Pause XBots

This command can be used to pause the motion of the specified XBot. The XBot's motion buffer is maintained, its current executing command is inserted into the motion buffer as the first command to execute on resume.

Fieldbus Interface

PMC_PauseXbots

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. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
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.

Ethernet Interface

PMCRTN MotionInterruptCommand(int xbotID, MOTIONINTERRUPTOPTIONS motionInterruptOption)

Parameters

Name	Type	Description
xbotID	int	ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
motionInterruptOption	enum	RESUME = 0, PAUSE = 1

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	XBot State is Motion or Waiting. XBot is NOT executing the following commands: Stream Mode Control, Force Mode, Stop XBot Motion, Levitation/Landing or Planet XBots Control
Postconditions	XBot will pause its current motion by stopping, it will resume motion upon receiving a Resume XBot command

Description

This command can be used to pause the motion of the specified XBot and return to the Idle state. The XBot's motion buffer is maintained, its current executing command is inserted into the motion buffer as the first command to execute on resume.

Pausing Stream Mode Control, Force Mode, Stop XBot Motion, Levitation/Landing or Planet XBots Controlis not supported
The current executing command and other commands in the motion buffer will not raise the Done or Aborted signal when the XBot is paused