Use this command to pause execution until a particular XBot enters a specified state.
Fieldbus Interface
PMC_HoldForXbotState
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
XbotID | USINT | ID of the XBot. Real XBot IDs [1,78]. |
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 |
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. |
Error | BOOL | If there is an error in processing the command, then Error = TRUE, otherwise, FALSE. |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | Resume code execution |
Description
Use this command to pause execution until a particular XBot enters a specified state.
