This command is used to get the status of the Planar Motor Controller (PMC).
Fieldbus Interface
PMC_GetPmcStatus
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 |
|---|
Valid | BOOL | TRUE: output values are valid. FALSE: output values are invalid. |
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 | PMC State Description. 0: Booting; 1: Inactive; 2: Activating; 5: Operation; 7: Deactivating; 8: Error Handling; 9: Error |
nXbots | UINT | Number of XBots |
Power | REAL | System power consumption in Watts |
MaxCPUTemp | REAL | Highest CPU temperature in the system in degrees Celsius (integer precision) |
MaxPATemp | REAL | Highest amplifier temperature in the system in degrees Celsius (integer precision) |
MaxMTemp | REAL | Highest motor temperature in the system in degrees Celsius (integer precision) |
FieldbusStatus | USINT | 0: Connected and synced; 1: Disconnected; 2: Connected but not synced |
PMNetStatus | USINT | 0: Connected; 1: Disconnected |
MoverIDScanStatus | USINT | 0: At least one XBot did not finish RFID scan; 1: All XBots finished RFID scan |
PMCErrorCode | UDINT | Current PMC Error Code |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | Information received about the PMC status |
Description
This command is used to get the status of the Planar Motor Controller (PMC).
