This command can be used to query the status of the extended levitation control procedure of an XBot.
Fieldbus Interface
PMC_QueryLevitationCtrlEx
Inputs
|
Name
|
Data Type
|
Description
|
|
Execute
|
BOOL
|
Execution of the function block begins on a rising edge of this input. |
|
XbotID
|
UINT
|
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
|
|
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 Fieldbus Reply Codes. |
|
ProcedureType
|
USINT
|
Which procedure the state describes:
-
0: None
-
1: Extended landing
-
2: Extended levitation
|
|
ProcedureState
|
USINT
|
State at acceptance:
-
0: Not requested
-
1: Accepted
-
2: In progress
-
3: Finished
-
4: Failed
|
|
ProcedureError
|
UINT
|
Procedure error code, only meaningful when ProcedureState is 4
|
Conditions
|
Operating Conditions
|
|
Preconditions
|
None
|
|
Postconditions
|
Status of the extended levitation control procedure of the XBot is provided in the output
|
Description
This command can be used to query the status of the extended levitation control procedure of an XBot.
Changelog
PMC v117.27.14 (Fieldbus v6.03.063.00) - Command released in fieldbus libraries
