Mover ID Manual Scan

This command is used to manually scan the XBot’s XID when using Absolute ID. The PMC has to be activated in manual mode and its state should be DISCOVERY.

Fieldbus Interface

PMC_MoverID_ManualScan

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. Real XBot IDs [1,78].
Orientation	USINT	0: East, 1: North, 2: West, 3: South
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.

Conditions

Operating Conditions
Preconditions	PMC state is DISCOVERY.
Postconditions	XBot’s XID is scanned.

Description

This command is used to manually scan the XBot’s XID when using Absolute ID. The PMC has to be activated in manual mode and its state should be DISCOVERY. The orientation of the XBot needs to be specified in order for the scanning to be successful.