This command is used to get the status of a Safety Sector. See the state diagram in Safety Sector.
Fieldbus Interface
PMC_Sector_GetStatus
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
SectorID | USINT | ID of the Safety Sector |
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. |
State | USINT | Safety Sector State, see state diagram in Safety Sector |
NumXbots | USINT | Number of XBots inside the Safety Sector |
XbotIDs | USINT[0..31] | The IDs of XBots inside the Safety Sector |
Ethernet Interface
SectorStatusReturn GetSectorStatus(int sectorID)
Parameters
Name | Type | Description |
|---|
sectorID | int | Sector ID (>0) |
Returns
Name | Type | Description |
|---|
SectorStatusReturn.PmcRtn | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
SectorStatusReturn.SectorState | SECTORSTATE enum | Safety Sector State, see state diagram in Safety Sector |
SectorStatusReturn.XBotCount | int | Number of XBots inside the Safety Sector |
SectorStatusReturn.XbotIDs | int[] | The IDs of XBots inside the Safety Sector |
SectorStatusReturn.XBotCountOnBorder | int | Number of XBots on the edge of the Safety Sector |
SectorStatusReturn.XBotIDsOnBorder | int[] | The IDs of XBots on the edge of the Safety Sector |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | The status of the Safety Sector is reported |
Description
This command is used to get the status of a Safety Sector. See the state diagram in Safety Sector.
