Configure Digital Input To Run Macro

Use a digital input to cause an XBot to run a Motion Macro. See Send Digital Input to PMC

Fieldbus Interface

PMC_ConfigDI2RunMacro

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]
MacroID	USINT[0..21]	Macro ID, valid range [128,191]
XbotID	USINT[0..21]	Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
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	When the specified Digital Input(s) is turned on, the specified XBot(s) will run the specified Motion Macro(s) or add the macro to its motion buffer

Description

Use a digital input to cause an XBot to run a Motion Macro.

If the XBot is idle, turning on the digital input will run the motion macro immediately. If the XBot is executing a command, turning on the digital input will add the motion macro to the XBot’s motion command buffer.