Get XBot IDs | Planar Motor

Retrieves the IDs of the XBots currently on the system, real XBots only.

This is much slower than Read XBot IDs.

Fieldbus Interface

PMC_GetXbotIDs

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)
NumXbots	BOOL	Number of XBots in system
Xbot_IDs	USINT[0..98]	Array of the XBots IDs in the system

Ethernet Interface

XBotIDs GetXBotIDS()

Returns

Name	Type	Description
XBotIDs.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
XBotIDs.XBotCount	int	Number of XBots in the system
XBotIDs.XBotIDsArray	int[]	Array of IDs of the detected XBots

Conditions

Operating Conditions
Preconditions	None
Postconditions	Returns the ID of XBots currently in the system.

Description

Retrieves the IDs of the XBots currently on the system, real XBots only. Note that the array of XBot IDs and number of XBots are not cleared (reset to 0) once Execute is False.

This is much slower than Read XBot IDs.