Get XBot Status

This command queries the PMC for information for a particular XBot.

Fieldbus Interface

PMC_GetXbotStatus

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
XbotID	USINT	Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
FeedbackType	USINT	0: Position feedback 1: Force Feedback 2: Reference Position in user coordinates 3: Reference Position in PMC coordinates 4: Target Position of command being executed 5: Target Position of last command in buffer 6: Reference Velocity
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	XBot State Descriptions. 0: Undetected; 1: Discovering; 2: Landed; 3: Idling; 4: Disabled; 5: Motion; 6: Wait; 7: Stopping; 8: Obstacle; 9: Hold; 10: Stopped; 14: Error
CmdLb	UINT	Contains the Command Label of the command that the queried XBot is currently executing. If the XBot is not executing a motion command, it will return 0xFFFF.
FMState	USINT	Force Mode status: Bit 0 to 5 represent the control mode of X, Y, Z, Rx, Ry, Rz respectively. Value 0 means in position controlled mode; value 1 means force mode. Bit 6 to 7 reserved.
StarXID	USINT	ID of the XBot that is acting as a Star XBot for this mover. 0: no Star XBot. See Planet XBots Control.
GroupID	BOOL	The group ID to which the XBot is bonded. If XBot is not bonded to any group, this value is 0. See XBot Group
nCmds	UINT	Number of commands in the XBot Motion Buffer
IsBlocked	BOOL	XBot Motion Buffer status (FALSE: buffer unblocked; TRUE: buffer blocked)
IsPaused	BOOL	Reports whether current motion is paused. (FALSE: motion not paused; TRUE: motion paused). See Pause/Resume
PosX	REAL	XBot X Coordinates (m) or XBot X direction Force (N)
PosY	REAL	XBot Y Coordinates (m) or XBot Y direction Force (N)
PosZ	REAL	XBot Z Coordinates (m) or or XBot Z direction Force (N)
PosRX	REAL	Tilt around X-axis (rad) – labelled as RX or Torque around X-axis (Nm)
PosRY	REAL	Tilt around Y-axis (rad) – labelled as RY or Torque around Y-axis (Nm)
PosRZ	REAL	Tilt around Z-axis (rad) – labelled as RZ or Torque around Z-axis (Nm)
StereotypeID	USINT	Assigned Mover Stereotype ID. Default value is 255.
MoverType	USINT	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 Mover Types)

Ethernet Interface

XBotStatus GetXBotStatus(int xbotID, FEEDBACKOPTION feedbackType)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotID	int	Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
feedbackType	enum	POSITION = 0, FORCE = 1, REFERENCE = 2, TARGET = 5, REF_VELOCITY = 6. If this parameter is omitted, then the command will provide position feedback.

Returns

Name	Type	Description
XBotStatus.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
XBotStatus.XBOTState	enum	XBot State Descriptions. 0: Undetected; 1: Discovering; 2: Landed; 3: Idling; 4: Disabled; 5: Motion; 6: Wait; 7: Stopping; 8: Obstacle; 9: Hold; 10: Stopped; 14: Error
XBotStatus.cmdLabel	ushort	Contains the Command Label of the command that the queried XBot is currently executing. If the XBot is not executing a motion command, it will return 0xFFFF.
XBotStatus.inForceMode	bool	FALSE = XBot in position control mode; TRUE = XBot in Force Mode
XBotStatus.FeedbackPositionSI	double[]	The corresponding feedback values based on parameter feedbackType, in SI units
XBotStatus.isConnectedToGroup	bool	TRUE if XBot is bonded to an XBot Group
XBotStatus.connectedGroupID	int	If XBotStatus.isConnectedToGroup is TRUE, then the group ID of the XBot Group this XBot is bonded to
XBotStatus.isMotionBufferBlocked	bool	TRUE: XBot Motion Buffer blocked; FALSE: motion buffer is not blocked
XBotStatus.bufferedMotionCount	int	Number of motions currently in the XBot Motion Buffer
XBotStatus.stereotypeID	int	Assigned Mover Stereotype ID
XBotStatus.moverType	enum	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 Mover Types)

Conditions

Operating Conditions
Preconditions	None
Postconditions	The specified XBot's status information is provided in the outputs.

Description

This command queries the PMC for the following information for a particular XBot:

6DOF position (X, Y, Z, RX, RY, RZ) in meters and radians or 6D Force/Torque, in N and Nm
XBot State, see XBot State Description
Command Label of the command that the XBot is currently executing. If not applicable (e.g. XBot is idle or in async motion), then the returned value will be 0xFFFF
Force Mode state (In force mode or not in force mode) for each axis (X, Y, Z, RX, RY, RZ)
XBot Motion Buffer state and number of commands in the buffer
XBot Group ID that XBot is linked/connected to, if applicable.
Planet XBots Control Star XBot ID, if applicable.
Motion Interrupt status
Assigned Mover Stereotype ID. Default value is 255.
Mover Types of the specified mover.