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 Fieldbus 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
