Mobility Control | Planar Motor

This command can be used to control the mobility mode of an XBot.

Fieldbus Interface

PMC_MobilityControl

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. 0 = All XBots. Real XBot IDs [1,78]
Level	USINT	0: Disable 1: Land 2: Levitate
Speed	USINT	0 = (1/16), 1 = (1/8), 2 = (1/4), 3 = (1/2), 4 = (max speed)
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.
TravelTime	REAL	Time needed for the motion to complete in seconds

Conditions

Operating Conditions
Preconditions	XBot(s) is Idle, Stopped or Landed
Postconditions	XBot(s) will be Disabled, Landed or Idle (levitated), as specified

Description

This command can be used to control the mobility mode of an XBot.

Using Level = 0 disables the XBot, leaving it fully uncontrolled. It will not hold position and may not avoid collisions. Use this setting only when strictly necessary, and ensure the surface is clear before doing so.

Changelog

PMC v117.27.14 (Fieldbus v6.03.063.00) - Command released in fieldbus libraries