Moment of Inertia | Planar Motor

The Measure Moment of Inertia command measures an XBot's inertia about a single axis by exciting that axis:

The measurement runs while the function block is Busy and completes on Done (success) or Error (failure).

Only one XBot is measured at a time

Function Blocks

Command	Purpose
Measure Moment of Inertia	Start and run a measurement. Read the value afterwards with `PMC_QueryMomentofInertia`.
Measure Moment of Inertia Async	Start and run a measurement and return the result on the same block (adds the `MomentofInertia` output).
Query Moment of Inertia	Read the state and result of an XBot's measurement.

MeasurementState (output on every block):

Value	State	Meaning
0	idle	No measurement has been started for this XBot.
1	in progress	Measurement running; result not yet available.
2	done	Measurement finished; `MomentofInertia` is valid.
3	failed	Measurement aborted due to an error.

Precondition: the target XBot must be idle at a stable location, and no other XBot may be under measurement. Starting again for the XBot already in progress is a no-op success; a request for a different XBot is rejected (WRONG_STATE).
During: the XBot is locked for the duration of the excitation — user motion commands to that XBot are blocked so they cannot disturb.
Postcondition: the XBot is released (whether the measurement completes or fails), the function block reports Done/Error, and on success the measured value is available (the MomentofInertia output of the Async block, or via PMC_QueryMomentofInertia).

The excitation frequency is fixed by the controller and is not an input; only the magnitude is adjustable, and it is capped per axis: 10 N for X/Y/Z, 1 N·m for Rx/Ry/Rz. A magnitude of 0 selects the controller default.