Use this command to pause execution until all specified XBot enters their own specified state.
Fieldbus Interface
PMC_HoldForXbotsState
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 check for 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].
|
|
States
|
USINT[0..77]
|
States each XBot needs to be in to resume execution. 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 all specified XBot enters their own specified state.
