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Configure Digital Output for Command Label

Configure a digital output from the PMC to turn on/off based on a Command Label. See Read Digital Output from PMC

  • State based – On when XBot executing specified Command Label, off when XBot is not executing specified Command Label

  • Event based – On when command labeled command start, or on when command labeled command finish. It can be turned off using a Digital Input, see Configure Digital Input To Reset DO

configdo2cmdlb.png

Fieldbus Interface

PMC_ConfigDO2CmdLb

Inputs

Name

Data Type

Description

Execute

BOOL

 Execution of the function block begins on a rising edge of this input.

nDO

USINT

Number of digital inputs to configure, up to 5

DoID

USINT[0..4]

 Digital Output ID, valid range [1,128]

XbotID

USINT[0..4]

Real XBot IDs [1,78]. Virtual XBot IDs [100,127]

CmdLB

UINT[0..4]

Command Label to monitor

Type_

USINT[0..4]

  • Event based: 0: Cmd label Start; 1: Cmd Label End;

  • State based: 2: On when Cmd Label is executing, off when Cmd Label is not executing

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 Fieldbus Reply Codes.

Conditions

Operating Conditions

Preconditions

None

Postconditions

Specified Digital Output from PMC is set to monitor the command label of the specified XBots

Description

Configure a digital output from the PMC to turn on/off based on a command label. See Read Digital Output from PMC

  • State based – On when XBot executing specified Command Label, off when XBot is not executing specified Command Label

  • Event based – On when command labeled command start, or on when command labeled command finish. It can be turned off using a Digital Input, see Configure Digital Input To Reset DO