This command is used to read the status of a specific zone.
Fieldbus Interface
PMC_Zone_GetStatusEx
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
ZoneID | USINT | Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone |
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 | Zone state: 0 = N/A, 1 = ACTIVE_UNFENCED, 2 = DEACTIVATING, 3 = LOADING, 4 = ACTIVATING, 5 = ACTIVE_FENCED, 6 = ERROR |
NumXbotsInZone | USINT | Number of XBots completely inside the zone |
XbotIDsInZone | USINT[0..31] | IDs of XBots completely inside the zone |
NumXbotsOnBoundary | USINT | Number of XBots on the zone boundary |
XbotIDsOnBoundary | USINT[0..31] | IDs of XBots on the zone boundary |
Ethernet Interface
ZoneStatusReturn GetZoneStatus(int zoneID)
Parameters
Name | Type | Description |
|---|
zoneID | int | Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone |
Returns
Name | Type | Description |
|---|
ZoneStatusReturn.PmcRtn | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
ZoneStatusReturn.ZoneState | enum | Zone state |
ZoneStatusReturn.XBotCount | int | Number of XBots inside the zone |
ZoneStatusReturn.XBotIDs | int[] | List of XBot IDs of XBots inside the zone |
ZoneStatusReturn.XBotCountOnBorder | int | Number of XBots on the zone's border |
ZoneStatusReturn.XBotIDsOnBorder | int[] | List of XBot IDs of XBots on the zone's border |
ZoneStatusReturn.SpeedOverrideRatio | float | Speed override ratio of the zone. See Zone Override |
ZoneStatusReturn.AccelerationOverrideRatio | float | Acceleration override ratio of the zone. See Zone Override |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | Zone status returned |
Description
This command is used to read the status of a specific zone.
