This command is used to add multiple XBots together into one group.
Fieldbus Interface
PMC_CreateXbotGroup
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
GroupID | USINT | Group ID corresponding to which group to create, between 1-50 |
nXbots | USINT | Number of XBots to put in the group, from 1 to 32 |
XbotID | USINT[0..31] | Array of size 32, enter up to 32 group member XBot IDs |
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. |
Ethernet Interface
PMCRTN CreateXbotGroup(int groupID, int xbotCount, int[] xbotIDs)
Parameters
Name | Type | Description |
|---|
groupID | int | Group ID |
xbotCount | int | Number of XBots in the group |
xbotIDs | int[] | XBot IDs of the XBots to be linked in a group |
Returns
Name | Type | Description |
|---|
PMCRTN | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
Operating Conditions |
|---|
Preconditions | XBot(s) State is Idle or Stopped. |
Postconditions | The specified XBot(s) will be added to a group. |
Description
This command is used to add multiple XBots together into one group.
Note that an XBot can be in multiple groups, as long as it is not Bonded to multiple groups. See XBot Group Bond Control
The maximum number of groups is 50; the maximum number of XBots per group is 32
