Get the status of an XBot Motion Buffer .
Fieldbus Interface PMC_GetBufferStatus
Inputs
Name
Data Type
Description
Execute
BOOL
Execution of the function block begins on a rising edge of this input.
XbotID
USINT
ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
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 .
State
USINT
0: Buffer is released; 1: Buffer is blocked
nCmds
UINT
Number of commands in motion buffer
nextCmdLb
UINT
The upcoming command in the motion buffer
newCmdLb
UINT
The most recently added command to the motion buffer
Ethernet Interface MotionBufferReturn MotionBufferControl(int xbotID, MOTIONBUFFEROPTIONS bufferOption)
Parameters
Name
Type
Description
xbotID
int
ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
bufferOption
enum
BLOCKBUFFER (0) = block buffer; RELEASEBUFFER (1) = release buffer; CLEARBUFFER (2) = clear buffer
Returns
Name
Type
Description
MotionBufferReturn.PmcRtn
PMCRTN enum
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes .
MotionBufferReturn. MotionBufferStatus
struct
bool isBufferBlocked: true if buffer is blocked, false if buffer is not blocked
int bufferedMotionCount: number of motions stored in the specified XBot’s motion buffer
int firstBufferedMotionCmdLabel: command label of the first command in the specified XBot’s motion buffer
int lastBufferedMotionCmdLabel: command label of the last command in the specified XBot’s motion buffer
int xbotID: ID of the XBot that this return is describing
Conditions Operating Conditions
Preconditions
None
Postconditions
The XBot’s buffer status will be provided in the output
Description Get the status of an XBot Motion Buffer .
There is no explicit command to get the buffer status using Ethernet. Instead, the status is provided in the return value when blocking/unblocking the motion buffer.
