Configure Digital Input To Quick Stop

During safety events, it may be desirable to actively stop the motion of the XBots and deactivate them, instead of simply turning off the power and rely on friction and gravity to stop the XBots.

This command can be used to immediately (in the next communication cycle) send a command the PMC to stop all XBots and deactivate them. Bypassing the motion buffer and any other commands that may be executing, but using the digital input signals (on the Fieldbus) to the PMC.

Please note that this is NOT a replacement for safety devices!

This can be used on the entire system, or individual Power Sectors. (See Power Sector Configuration and Power Sector Commands)

After configuration, the Quick Stop will be triggered by Send Digital Input to PMC.

Fieldbus Interface

PMC_ConfigDI2QuickStop

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
nDI	USINT	Number of digital inputs to configure, 1 to 22
DiID	USINT[0..21]	Digital Input ID, valid range [1,128]
SectorID	USINT[0..21]	Power Sector IDs, of the power sectors controlled by the corresponding digital input specified in DiID. "0" means the entire system
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.

Conditions

Operating Conditions
Preconditions	None
Postconditions	Specified Digital Inputs is set to Quick Stop the specified Power Sectors

Description

During safety events, it may be desirable to actively stop the motion of the XBots and deactivate them, instead of simply turning off the power and rely on friction and gravity to stop the XBots.

This command can be used to immediately (in the next communication cycle) send a command the PMC to stop all XBots and deactivate them. Bypassing the motion buffer and any other commands that may be executing, but using the digital input signals (on the fieldbus) to the PMC.

Please note that this is NOT a replacement for safety devices!

This can be used on the entire system, or individual Power Sectors. (See Power Sector Configuration and Power Sector Commands)

After configuration, the Quick Stop will be triggered by Send Digital Input to PMC.

Example scenario:

After start up, Quick Stop is configured with this command
User opens door @ time = 0ms
Hardware sends digital signal to PLC. PLC informs the PMC in the next communciation cycle via Send Digital Input to PMC
PMC starts deceleration and deactivation process.
At a fixed time from when user opens the door, e.g. 300ms, triggered by a safety relay with delayed output, power to the Flyways is turned off