Configure Feedback Stream Extended

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 150 XBots (multiplexed when total number of axis > 49). 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 Extended command.

This command requires running the Auto Refresh command every cycle.

Fieldbus Interface

PMC_ConfigFBStreamExtended

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
nXbots	USINT	Number of XBots to configure in this command (from 1 to 150)
XbotID	USINT[0..149]	ID of the XBots to assign to a feedback stream slot, Array of 150
FBMode	USINT[0..149]	Feedback mode, Array of 150 0: Feedback position data will be provided for the XBotID 1: Force feedback data will be provided for the XBotID 2: Reference position data will be provided for the XBotID 3: Tracking / following position error will be provided for the XBotID
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 150 XBots (multiplexed when total number of axis > 49). 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 Extended command.

This command requires running the Auto Refresh command every cycle.

Difference between this command and Configure Feedback Stream:

Supports more XBots
If the number of feedback axis exceeds 49, then the feedback is multiplexed, instead of every cycle
- e.g. X, Y, Z axis are chosen in the configuration, and 20 XBots are configured using this command, this would be a total of 60 axis
  - The feedback positions for all 20 XBots will be provided over 2 cycles
  - You can still access all the positions for all the XBots every cycle using the Read Stream Feedback Extended command, just some data points are outdated by 1 cycle
For an individual XBot, this command can only choose position or force feedback, not both