Use this command to pause execution until all specified XBots enter Idle state.
Fieldbus Interface
PMC_HoldForXbotsIdle
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 that need to be in Idle state |
XbotID | USINT[0..77] | Array of size 78, represents all XBots that need to be in their respective state. ID of the XBot. Real XBot IDs [1,78]. |
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 all specified XBots enter Idle state.
