This command is used to get all the XBots' positions and states.
See also: Read XBot Position, Read XBot State
Fieldbus Interface
PMC_GetAllXbotPos
Inputs
|
Name
|
Data Type
|
Description
|
|
Execute
|
BOOL
|
Execution of the function block begins on a rising edge of this input. |
|
PositionMode
|
USINT
|
-
0: Feedback position
-
1: Reference position
|
|
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. |
|
nXbots
|
USINT
|
Number of XBots in the system
|
|
XbotIDs
|
UINT[0..126]
|
XBot IDs in the system
|
|
MoverLabels
|
UINT[0..126]
|
Mover Labels assigned to the XBots
|
|
XbotStates
|
USINT[0..126]
|
XBot State Descriptions. 0: Undetected; 1: Discovering; 2: Landed; 3: Idling; 4: Disabled; 5: Motion; 6: Wait; 7: Stopping; 8: Obstacle; 9: Hold; 10: Stopped; 14: Error |
|
PosXs
|
REAL[0..126]
|
X positions of the XBots (m)
|
|
PosYs
|
REAL[0..126]
|
Y positions of the XBots (m)
|
Ethernet Interface
AllXBotInfo GetAllXbotInfo(ALLXBOTSFEEDBACKOPTION feedbackOption = ALLXBOTSFEEDBACKOPTION.POSITION)
Parameters
|
Name
|
Type
|
Description
|
|
feedbackOption
|
enum
|
|
Returns
|
Name
|
Type
|
Description
|
|
AllXBotInfo.PmcRtn
|
PMCRTN enum
|
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
|
AllXBotInfo.AllXbotInfoList
|
list
|
-
XBotInfo.XPos: X position of the XBot (m)
-
XBotInfo.YPos: Y position of the XBot (m)
-
XBotInfo.ZPos: Z position of the XBot (m)
-
XBotInfo.RxPos: Rx position of the XBot (rad)
-
XBotInfo.RyPos: Ry position of the XBot (rad)
-
XBotInfo.RzPos: Rz position of the XBot (rad)
-
XBotInfo.XBotState: XBot State Descriptions. 0: Undetected; 1: Discovering; 2: Landed; 3: Idling; 4: Disabled; 5: Motion; 6: Wait; 7: Stopping; 8: Obstacle; 9: Hold; 10: Stopped; 14: Error
-
XBotInfo.XbotID: ID of the XBot
-
XBotInfo.XbotType: 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 XBot Types)
|
Conditions
|
Operating Conditions
|
|
Preconditions
|
None
|
|
Postconditions
|
The XBots' positions and states are provided in the output
|
Description
This command queries the PMC to get all the XBots' positions and states.
Changelog
PMC v117.26.74 (Fieldbus v6.03.055.00) - Command released in fieldbus libraries
