This command is used to get an array of Border IDs that the XBots entered from.
Fieldbus Interface
PMC_GetIncomingXbots
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
|
|
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 incoming XBots
|
|
XbotIDs
|
USINT[0..149]
|
The IDs of the incoming XBots
|
|
BorderIDs
|
USINT[0..149]
|
The IDs of the border that the XBots are crossing
|
Ethernet Interface
BorderNewXbotRtn GetNewXbotFromBorder()
Returns
|
Name
|
Type
|
Description
|
|
BorderNewXbotRtn.PmcRtn
|
PMCRTN enum
|
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
|
BorderNewXbotRtn.XBotCount
|
int
|
Number of new XBot coming to the system
|
|
BorderNewXbotRtn.XBotIDs
|
int[]
|
The IDs of the incoming XBots
|
|
BorderNewXbotRtn.BorderIDs
|
int[]
|
The IDs of the border that the XBots are crossing
|
Conditions
|
Operating Conditions
|
|
Preconditions
|
None
|
|
Postconditions
|
The incoming XBots and the associated border are obtained. The "incoming XBot count" in the cyclic data frame will be reset.
|
Description
This command is used to get an array of Border IDs that the XBots entered from.
