Inject Noise

Use this command to inject a sinusoidal signal to the XBot, with configurable parameters. Note that this command does not have any effect on the XBot in Emulation mode; a real system needs to be used.

Fieldbus Interface

PMC_InjectNoise

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
Mode	USINT	0: turn off noise; 1: turn on noise
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78].
nAxis	USINT	Number of axes to inject noise into
AxisIDs	USINT[0..5]	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
Amplitudes	REAL[0..5]	Amplitudes of sinusoidal signals (N or Nm)
Frequencies	REAL[0..5]	Frequencies of sinusoidal signals (Hz, maximum is 655 Hz, precision of 0.01 Hz)
Phases	REAL[0..5]	Phases of sinusoidal signals (degrees, precision of 0.01 degs)
Durations	REAL[0..5]	Durations of sinusoidal signals (s)
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.

Conditions

Operating Conditions

Preconditions

The XBot has to be in Idle State and:

Not bonded to a group (see Group XBot)
Not linked to a sun (seePlanet XBots Control)
Not being auto-driven (see AutoDriving)

Postconditions

The XBot will vibrate according to the parameters entered

Description

Use this command to inject a sinusoidal signal to the XBot, with configurable parameters. Note that this command does not have any effect on the XBot in Emulation mode; a real system needs to be used.