Group Linear Motion

This command is used to translate a group of XBots together.

Fieldbus Interface

PMC_GroupXYMotion

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
nXbots	USINT	Number of XBots to group and move (up to 32)
XbotID	USINT[0..31]	XBot IDs
LeaderXbotID	USINT	XBot to be sent to target position
Mode	USINT	0: Absolute Position. 1: Relative Positioning
Type_	USINT	0: Direct path to target. 1: X first, then Y. 2: Y first, then X
PosX	REAL	When Mode=0: Absolute X Coordinates (m) When Mode=1: Relative X Coordinates (m)
PosY	REAL	When Mode=0: Absolute Y Coordinates (m) When Mode=1: Relative Y Coordinates (m)
EndVel	REAL	Ending Speed (m/s)
MaxVel	REAL	Maximum Speed (m/s)
MaxAcc	REAL	Maximum Acceleration (m/s2)
Radius	REAL	Turn Radius (m), if Type_ is 1 or 2
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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.
TravelTime	REAL	Time needed for the motion to complete in seconds.

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified XBot(s) will enter the Motion State.

This command is used to translate a group of XBots together. It is equivalent to these commands, sent one after the other: