This command is used to set the RFID (XID) and orientation of the XBots.
Fieldbus Interface PMC_MoverID_Set
Inputs
Name
Data Type
Description
Execute
BOOL
Execution of the function block begins on a rising edge of this input.
nXbots
USINT
Number of XBots to set
XbotID
USINT[0..149]
IDs of XBots to set absolute IDs
RFIDHigh
UDINT[0..149]
High 32 bits of RFIDs (left 4 bytes)
RFIDLow
UDINT[0..149]
Low 32 bits of RFIDs (right 4 bytes)
Orientation
USINT[0..149]
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
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 should be INACTIVE or DISCOVERY.
Postconditions
The RFIDs for the specified XBots are set
Description This command is used to set the RFID (XID) and orientation of the XBots. It is useful when the XBot’s RFID is weak or absent, for e.g. in hygienic XBots.
