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 Fieldbus 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 XBot 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.
