Auto Driving Default Velocity

Commanding many XBots to move to their respective target positions according to an auto generated paths, avoiding collisions with each other collaboratively. It uses the default speed and acceleration from the configuration to complete the motions.

For RoutingType, labeled routing means the specified XBots must go the corresponding positions specified in the position arrays, i.e., XbotID[0] must go to PosX[0] and PosY[0]. This should be used if the order of XBots is important, such as XBots 1 through 8 must line up in a line in ascending order.

For unlabeled routing, any of the XBots specified in the XBot ID array can go to any of the positions specified in the position arrays, i.e., XbotID[1] may go to PosX[0] and PosY[0], using the most convenient way possible. This should be used if the order of the XBots is NOT important, such as when 8 XBots should be in a line, but it does not matter which XBot is first, etc.

Fieldbus Interface

PMC_AutoDrivingMotion

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
nXbots	USINT	Number of XBots to move, from 1 to 78. Multiple Auto Driving Motion command can be sent sequentially to move more than 78 XBots
RoutingType	USINT	0: Labeled routing (Order of XBots in the arrays is preserved) 1: Unlabeled routing (XBots will go to most convenient XY coordinates, regardless of their order in the arrays)
OverhangAllowed	BOOL	0: XBots are not allowed to overhang flyways 1: XBots are allowed to overhang flyways
ZoneID	USINT	(>0) Zone within which to route the XBots. Note: 0 means no specific zone.
XbotID	USINT[0..77]	Array of size 78, enter up to 78 XBot IDs of the XBots that should be moved.
PosX	REAL[0..77]	Array of size 78, Absolute target X Coordinates (m), for the up to 78 XBots specified in the XbotID array
PosY	REAL[0..77]	Array of size 78, Absolute target Y Coordinates (m), for the up to 78 XBots specified in the XbotID array
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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 AutoDrivingMotionSI(int xbotCount, ASYNCOPTIONS mode, int[] xbotIDs, double[] targetsXMeters, double[] targetsYMeters)

Parameters

Name	Type	Description
xbotCount	int	Number of XBots in this command
mode	enum	MOVEALL (0): Labeled routing; MOVEALL_UNLABELED (1): Unlabeled routing
xbotIDs	int[]	Array of XBot IDs that should move
targetsXMeters	double[]	Target X position for the corresponding XBot, meters
targetsYMeters	double[]	Target Y position for the corresponding XBot, meters

Returns

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

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified XBot(s) will enter the Motion State.

Description

Commanding many XBots to move to their respective target positions according to an auto generated paths, avoiding collisions with each other collaboratively.

User does not need to specify how each XBot gets to its destination, greatly reducing the Controller computation burden
The XBots will move at a pre-configured maximum speed and acceleration
At the start of the command, the system determines the rectangular routing area based on the starting and ending positions of the specified XBots. During this stage, all the XBots inside the routing area/specified zone must be Idle or Stopped
During the auto driving motion, XBots not involved in the motion may not enter the routing area, but may continue their motions as usual outside of this area

For RoutingType, labeled routing means the specified XBots must go the corresponding positions specified in the position arrays. Ie. XbotID[0] must go to PosX[0] and PosY[0]. This should be used if the order of XBots is important, such as XBots 1 through 8 must line up in a line in ascending order.

For unlabeled routing, any of the XBots specified in the XBot ID array can go to any of the positions specified in the position arrays. Ie. XbotID[1] may go to PosX[0] and PosY[0], using the most convenient way possible. This should be used if the order of the XBots is NOT important, such as when 8 XBots should be in a line, but it does not matter which XBot is first, etc.

Changelog

PMC v117.6.17 - Added ZoneID: the user can now define a zone and route only within that region by suppling the ZoneID to the command

PMC v.117.20.40 - Added OverhangAllowed: the user can now choose if the XBots can extend beyond flyway boundaries (15 mm)