Configure Digital Output for Force

Configure a digital output from the PMC to turn on/off based on XBot Force. See also Read Digital Output from PMC.

State based – On when force exceeds threshold, off when force is less than the threshold
Event based – On when monitored force exceeding threshold, or on when monitored force falling below threshold. It can be turned off using a Digital Input, see Configure Digital Input To Reset DO

Fieldbus Interface

PMC_ConfigDO2Force

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]
Type_	USINT[0..4]	Event based: 0: Rising above threshold; 1: Falling below threshold State based: 2: On when above threshold, off when equal or below threshold
AxisID	USINT[0..4]	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
Threshold	REAL[0..4]	Used to specify force threshold, N or Nm
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.

Operating Conditions
Preconditions	None
Postconditions	Specified Digital Output from PMC is set to monitor the force of the specified XBots

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

State based – On when force exceeds threshold, off when force is less than the threshold
Event based – On monitored force exceeding threshold, or on monitored force falling below threshold. It can be turned off using a Digital Input, see Configure Digital Input To Reset DO