This command is used to get an array of Border IDs that the XBots entered from, together with the XBot types, labels and stereotype IDs.
Fieldbus Interface
PMC_GetIncomingXbotsEx
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..126] | The IDs of the incoming XBots |
BorderIDs | USINT[0..126] | The IDs of the border that the XBots are crossing |
MoverTypes | USINT[0..126] | 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 Mover Types) |
MoverLabels | UINT[0..126] | Mover labels of the XBots that are crossing |
StereotypeIDs | USINT[0..126] | Stereotype IDs of the XBots that are crossing |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | The incoming XBots and the associated information 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, together with the XBot types, labels and stereotype IDs.
