Move Until Control Error

Monitor the control error of the XBot in a specified axis. When the monitoring condition is met, the move until command will finish, and the XBot will stop.

Fieldbus Interface

PMC_MoveUntilControlError

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	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
Mode	USINT	0: Absolute Position. 1: Relative Positioning
Priority	USINT	0: No priority. 1: High priority - the specified mover will move on its travel path before other movers. Other movers are not allowed to enter the travel path until the specified mover completes its motion
AxisID	USINT	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
Pos	REAL	Target position (m or rad)
EndVel	REAL	Ending Speed (m/s or rad/s), default = 0
MaxVel	REAL	Maximum Speed (m/s or rad/s), default = 1.0 m/s
MaxAcc	REAL	Maximum Acceleration (m/s2 or rad/s2), default = 10.0 m/s2 or 10.0 rad/s2
TriggerAxisID	USINT	Axis that will be monitored to trigger stop of the move Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
Threshold	REAL	Error threshold (m or rad) to move until
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

Ethernet Interface

MotionRtn MoveUntilControlError(uint cmdLabel, int xbotID, POSITIONMODE positionMode, AXISNAMES axis, double targetPos, double maxSpeed, double maxAcceleration, double ctrlErrThreshold)

Parameters

Name	Type	Description
cmdLabel	uint	Any 2 byte Command Label, user defined.
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
positionMode	enum	ABSOLUTE (0) = absolute positioning, RELATIVE(1) = relative positioning
axis	enum	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
targetPos	double	Target position, or relative increment, in meters or radians
maxSpeed	double	Max Speed (m/s or rad/s)
maxAcceleration	double	Max Acceleration (m/s2 or rad/s2)
ctrlErrThreshold	double	Control error threshold (m or rad)

Returns

Name	Type	Description
MotionRtn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
MotionRtn.TravelTimeSecs	float	Time needed for the motion to complete, in seconds

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Motion state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

Description

Move Until commands enable the user to send an XBot towards a target and specify a monitoring condition. Once the monitoring condition is met, the XBot will stop at its current position along the trajectory. If the condition is not met, the XBot will simply finish its trajectory and come to rest at the target position.

Changelog

PMC v117.26.74 (Fieldbus v6.03.055.00) (Ethernet v117.15.01) - Command released in fieldbus libraries