This command can be used to levitate or land an XBot with its landed behavior controlled.
Fieldbus Interface
PMC_LevitationCtrlEx
Inputs
|
Name
|
Data Type
|
Description
|
|
Execute
|
BOOL
|
Execution of the function block begins on a rising edge of this input. |
|
cmdLB
|
UINT
|
Any 2 byte Command Label, user defined. |
|
XbotID
|
UINT
|
ID of the XBot. Real XBot IDs [1,78]. |
|
Level
|
USINT
|
0: Land; 1: Levitate
|
|
Speed
|
USINT
|
0 = (1.6s), 1 = (0.8s), 2 = (0.4s), 3 = (0.2s), 4 = (0.1s), 5 = (0.05s); All times are approximate
|
|
StereotypeID
|
USINT
|
Stereotype the XBot is switched to once levitating/landing is done
|
|
LiftForce
|
REAL
|
Landing only: upward Z force supporting the XBot during first landing (in N), 0 for none
|
|
PressForce
|
REAL
|
Landing only: downward Z force seating the XBot during final landing (in N), 0 for none
|
|
SettleDelay
|
REAL
|
Landing only: delay letting the XBot come to rest before its load model changes (in seconds)
|
|
TimeoutSec
|
REAL
|
Budget for the procedure to reach the state it aims for (in seconds)
|
|
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 Fieldbus Reply Codes. |
|
ProcedureState
|
USINT
|
State at acceptance:
-
0: Not requested
-
1: Accepted
-
2: In progress
-
3: Finished
-
4: Failed
|
Conditions
|
Operating Conditions
|
|
Preconditions
|
XBot is Idle (Levitated) or Landed
|
|
Postconditions
|
XBot is either Idle (Levitated) or Landed, as specified
|
Description
This command can be used to levitate or land an XBot with its landed behavior controlled. It executes a two-step landing:
-
The XBot is first set down while optionally supported by the lift force
-
After the settle delay and the landed stereotype is applied, the XBot is seated by the optional press force
When levitating, the XBot is switched back to its flight stereotype before it lifts off.
Changelog
PMC v117.27.14 (Fieldbus v6.03.063.00) - Command released in fieldbus libraries
