Define Mover Stereotype

A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to define a Mover Stereotype.

Fieldbus Interface

PMC_MoverStereotype_Define

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
MoverType	USINT	M3-06 = 0, M3-08 = 2, M3-10 = 6, M3-11 = 8, M3-12 = 12, M3-13 = 14, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See Mover Types)
StereotypeID	USINT	Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation.
PerformanceLevel	USINT	Valid range [0, 3]. 0 = most stable, 3 = most responsive
Cg	REAL[0..2]	Overall center of gravity [Cgx, Cgy, Cgz], in meters.
PayloadWeight	REAL	Payload weight, in kg
PayloadSize	REAL[0..3]	Payload size as measured from XBot center. [+x, -x, +y, -y] dimensions, in meters. NOTE: +x, +y > 0 and -x, -y < 0. Currently the payload is considered symmetrical, if you have a payload with physical dimension [+x, -x, +y, -y] = [1, -0.1, 0.8, 0.01]; this payload will be normalized to size [1, -1, 0.8, -0.8], using the furthest distance away from the center of the XBot; the software boundary will use this normalized size for obstacle detection.
EmergencyStopDecel	REAL	The deceleration used during obstacle handling/emergency stops. If set to 0, the emergency deceleration set in the configuration will be used.
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 DefineMoverStereotype(MOVERTYPE moverType, int stereotypeID, MoverStereotypeData stereotypeData)

Parameters

Name	Type	Description
moverType	enum	M3-06 = 0, M3-08 = 2, M3-10 = 6, M3-11 = 8, M3-12 = 12, M3-13 = 14, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See Mover Types)
stereotypeID	int	Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation.
stereotypeData	struct	Performance level: 0 = conservative, stable; 3 = aggressive, responsive Payload information including weight (kg), center of gravity in x,y,z (m), payload dimensions as measured from the center of the XBot

Returns

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

Conditions

Operating Conditions
Preconditions	None
Postconditions	The specified Mover Stereotype is created or updated. If it is an update, any XBots using the specified Mover Stereotype will receive the updated parameters.

Description

A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to define a Mover Stereotype.

Stereotype 0 is read-only, and its parameters are all 0
Stereotype 255 is for activation and levitation, it is the default assigned stereotype at system boot up.
The center of gravity parameter is for the overall system including the XBot. In most cases, the overall system is not a one-body system, so getting the right parameter requires experimental tuning instead of mathematically calculations.
A control performance level can be specified for the XBot. 0 means conservative control algorithm, with superior stability but longer settling time. 3 is the most aggressive control algorithm, with reduced stability but shorter settling times.
EmergencyStopDecel is used to change the obstacle handling deceleration limit. If this value is set to 0, then the emergency deceleration set in the configuration will be used.