Use this command to get the number of XBots and the IDs of the XBots whose centers are within the specified rectangular area.
Fieldbus Interface
PMC_FindXbotsInArea
Inputs
|
Name
|
Data Type
|
Description
|
|
Enable
|
BOOL
|
Set to TRUE to enable the function block. It will continuously obtain the most up-to-date value(s) until reset to FALSE. |
|
BottomLeftX
|
REAL
|
X coordinate of bottom left corner of area (m)
|
|
BottomLeftY
|
REAL
|
Y coordinate of bottom left corner of area (m)
|
|
TopRightX
|
REAL
|
X coordinate of top right corner of area (m)
|
|
TopRightY
|
REAL
|
Y coordinate of top right corner of area (m)
|
|
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
|
|
Valid
|
BOOL
|
TRUE: output values have been successfully read. FALSE: unable to obtain output values. |
|
nXbots
|
USINT
|
Number of XBots whose centers are within the area
|
|
XbotIDs
|
USINT[0..77]
|
IDs of XBots whose centers are within the area
|
Conditions
|
Operating Conditions
|
|
Preconditions
|
None
|
|
Postconditions
|
XBots in the area are provided in the output
|
Description
This command is used to get the number of XBots and the IDs of the XBots whose centers are within the specified rectangular area.
