Levitation/Landing

This command can be used to levitate or land the XBots with a specified speed and a landed force in Z.

Fieldbus Interface

PMC_LevitationCtrl

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. 0 = All XBots. 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
LandedZForce	REAL	Z axis force when the XBot is landed in Newtons
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.

Ethernet Interface

PMCRTN LevitationCommand(int xbotID, LEVITATEOPTIONS levMode, LEVITATIONSPEED levSpeed, double force)

Parameters

Name	Type	Description
xbotID	int	ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]
levMode	enum	LAND (0): land XBot(s), LEVITATE (1) : levitate XBot(s)
levSpeed	enum	APPROX_1600MS(0): 1.6s APPROX_800MS(1): 0.8s APPROX_400MS(2): 0.4s APPROX_200MS(3): 0.2s APPROX_100MS(4): 0.1s APPROX_50MS(5): 0.05s All times are approximate
force	double	Z axis force when the XBot is landed in Newtons

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

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 the XBots with a certain speed after the PMC has been activated. An XBot must be levitating in order to execute a motion command.

To levitate an XBot, it must initially be landed. To land an XBot, it must initially be levitating and is in the Idle or Stopped state.

An input of 0 for the XBot ID can be used to levitate/land all XBots.

Changelog

PMC v117.5.17 - Added landed z force and speed control for fieldbus interface