Deactivation

This command can be used to stop the PMC from controlling the XBots. The PMC will no longer control the position of the XBots. It is important to make sure the XBots will come to rest in a safe manner prior to deactivating the PMC.

When the PMC is deactivated, it is safe to add or remove XBots from the Flyways.

Fieldbus Interface

PMC_DeactivateXbots

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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 DeactivateXBOTS()

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	PMC State is OPERATIONAL.
Postconditions	PMC State goes into DEACTIVATING, then INACTIVE. XBots will stop being controlled by the PMC.

Description

This command can be used to stop the PMC from controlling the XBots. The PMC will no longer control the position of the XBots. It is important to make sure the XBots will come to rest in a safe manner prior to deactivating the PMC.

When the PMC is deactivated, it is safe to add or remove XBots from the Flyways.