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 PMC 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.
