Payload Weighing [Deprecated]

DEPRECATED

Use this command to weigh the payload carried by the XBot. This command is faster but less accurate than Weigh XBot.

Fieldbus Interface

PMC_GetPayload

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].
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
Valid	BOOL	TRUE: output values are valid. FALSE: output values are invalid.
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.
Payload	REAL	Payload weight, in kg

Ethernet Interface

PayloadWeighingReturn PayloadWeighingKg(int xbotID)

Parameters

Name	Type	Description
xbotID	int	ID of the XBot. Real XBot IDs [1,78].

Returns

Name	Type	Description
PayloadWeighingReturn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
PayloadWeighingReturn.WeightKG	float	Weight of the payload, in kg

Conditions

Operating Conditions
Preconditions	XBot is in the Idle or Waiting State, at a consistent location
Postconditions	The measured payload is provided in the output

Description

It is possible to weigh the payload carried by the XBot using the payload weighing command. The resolution is 0.1g, the repeatability is about 1g, and accuracy depends on the calibration. Weighing should be completed with Z = 1mm, Rx = Ry = Rz = 0.

The weighing output is position dependent, to get meaningful results, it is best to always do the weighing from the same position. For all XBots, position it so that 2 edges of the XBot are aligned with 2 edges of the Flyway. For example, for M3-06 (120mm x 120mm), the positions that will provide the most accurate weighing result is at the 4 corners of the Flyway: (X,Y) = (60mm,60mm), (60mm,180mm), (180mm,60mm) and (180mm,180mm).