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Get All XBot Pos

This command is used to get all the XBots' positions and states.

See also: Read XBot Position, Read XBot State

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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

MoverTypes

USINT[0..126]

 M3-06 = 0, M3-08 = 2, M3-09 = 4, M3-10 = 6, M3-12 = 12, M3-13 = 14, M3-15 = 16, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See XBot Types)

SlotIDs

USINT[0..126]

Slot ID of the XBots

IsScanned

BOOL[0..126]

Absolute ID scan status of the XBots

Orientations

USINT[0..126]

Orientation (0..3) of the XBots

PartTypes

USINT[0..126]

Part type of the XBots

StereotypeIDs

USINT[0..126]

Stereotype ID of the XBots

PosXs

REAL[0..126]

X positions of the XBots (m)

PosYs

REAL[0..126]

Y positions of the XBots (m)

PosZs

REAL[0..126]

Z positions of the XBots (m)

PosRXs

REAL[0..126]

Rx positions of the XBots (rad)

PosRYs

REAL[0..126]

Ry positions of the XBots (rad)

PosRZs

REAL[0..126]

Rz positions of the XBots (rad)

Ethernet Interface 

AllXBotInfo GetAllXbotInfo(ALLXBOTSFEEDBACKOPTION feedbackOption = ALLXBOTSFEEDBACKOPTION.POSITION)

Parameters

Name

Type

Description

feedbackOption

enum

  • POSITION (0): Feedback position

  • REFERENCE (1): Reference position
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, M3-09 = 4, M3-10 = 6, M3-12 = 12, M3-13 = 14, M3-15 = 16, 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

PMC v117.27.14 (Fieldbus v6.03.063.00) - Added more outputs to command