Pause XBots | Planar Motor

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
XbotID	USINT
PM_Controller	PMControllerType

Outputs

Name	Data Type	Description
Ack	BOOL
Done	BOOL
Busy	BOOL
Aborted	BOOL
Error	BOOL
ErrorID	UINT

Ethernet Interface

PMCRTN MotionInterruptCommand(int xbotID, MOTIONINTERRUPTOPTIONS motionInterruptOption)

Parameters

Name	Type	Description
xbotID	int
motionInterruptOption	enum	RESUME = 0, PAUSE = 1

Returns

Name	Type	Description
PMCRTN	PMCRTN enum

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 Control is 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