Assign Mover Stereotype

A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to assigned a defined Mover Stereotype to an XBot.

Fieldbus Interface

PMC_MoverStereotype_Assign

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
StereotypeID	USINT	Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation. 0 is default all-zero stereotype.
XbotID	USINT	ID of the XBot. ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]
BufferAssign	USINT	0: assigned the specified mover stereotype immediately 1: add this command to the motion buffer of the specified XBot
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.

Ethernet Interface

PMCRTN AssignStereotypeToMover(int moverID, int stereotypeID)

Parameters

Name	Type	Description
moverID	int	ID of the XBot. ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]
stereotypeID	int	Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation. 0 is default all-zero stereotype.

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	The specified Stereotype ID has been defined
Postconditions	The specified Mover Stereotype is assigned to the specified XBot

Description

A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to assigned a defined Mover Stereotype to an XBot.