Planet XBots Control

This command is used to create the Star-Planet coupling.

Fieldbus Interface

PMC_PlanetMotionCtrl

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
Level	USINT	0: Disconnect from Star XBot; 1: Connect to Star XBot
StarXID	USINT	ID of the Star XBot
nXbots	USINT	Number of XBots to add as planets, from 1 to 32
PlanetXID	USINT[0..31]	Array of size 32, enter up to 32 planet XBot IDs
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.

Ethernet Interface

PMCRTN EditPlanetXbots(int sunXbotID, int planetXbotCount, int[] planetXbotIDs, PLANETOPTIONS action)

Parameters

Name	Type	Description
sunXbotID	int	ID of the Sun or Star XBot
planetXbotCount	int	Number of planet XBots involved in this command
planetXbotIDs	int[]	IDs of the Planet XBots
action	enum	REMOVEPLANETS: remove planet XBots, ADDPLANETS: add planet XBots

Returns

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

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified planet XBot(s) will start following the specified Star (or Sun) XBot

Description

A planet motion command is a special type of connected Group, where a particular XBot is the Star or Sun XBot, and the other XBots (planets) move relative to the Star XBot. The planet XBot’s coordinate system’s origin is the Star XBot’s current position. This command is used to create the Star-Planet coupling.

Behaviour During Obstacles

Unlike standard XBots during motion commands, if any of the Star or Planet XBots encounter an obstacle (i.e. another XBot is in the way), they will all enter the Stopped State simultaneously and their motions will not be resumed even if the obstacle XBot is moved away. The motion commands need to be sent again.