Configure Feedback Stream

When using Real-Time Ethernet to connect to the system, each feedback frame update packet from the PMC to the Host Controller can provide detailed information for up to 24 XBots. This command is used to edit which XBots are included in the frame update. See also Feedback Configuration

The feedback positions or forces are read using the Read Stream Feedback command.

Fieldbus Interface

PMC_ConfigFBStream

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
nStm	USINT	Number of Feedback Stream slots to configure in this command (from 1 to 8)
XbotID	USINT[0..7]	ID of the XBot to assign to a feedback stream slot, Array of 8
StmID	USINT[0..7]	ID of the stream slot to assign the XBot described in the XbotID array. Valid stream IDs depend on the number of configured stream feedback axis.
FBMode	USINT[0..7]	Feedback mode, Array of 8 0: Feedback position data will be provided in the stream slot described in StmID 1: Force feedback data will be provided in the stream slot described in StmID 2: Reference position data will be provided in the stream slot described in StmID 3: Tracking / following position error will be provided in the stream slot described in StmID
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	The Real-Time Ethernet frame data will be updated to provide the desired information

Description

When using Real-Time Ethernet to connect to the system, each feedback frame update packet from the PMC to the Host Controller can provide detailed information for up to 24 XBots. This command is used to edit which XBots are included in the frame update. See also Feedback Configuration.

This information will be provided in the up to 24 available slots in the feedback frame update packet. Each slot has a ID, this ID is referred to as the stream ID.

This command is used to specify which XBots the PMC should provide information for, and in which feedback frame slot. The user can choose from 2 types of feedback data: position or force. If position is selected, that feedback frame slot will only provide position data. Similarly, if force is selected, that feedback frame slot will be used to provide force data.

The number of available slots depends on how many axis are provided in each slot. If only 2 axes (minimum) is selected, then 24 slots are available. If 6 axes (maximum) are selected, then 8 slots are available. i.e. # of axis * # of slots <= 49.