Query Moment of Inertia

Reads the current state and result of an XBot's inertia measurement. Use it after Measure Moment of Inertia to retrieve the measured value, or at any time to poll MeasurementState.

Fieldbus Interface

PMC_QueryMomentofInertia

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.
MeasurementState	USINT	Progress state of the measurement: 0: Idle 1: In progress 2: Done 3: Failed
MomentofInertia	REAL	Inertia or moment of inertia (kg for X/Y/Z, kg·m² for Rx/Ry/Rz)

Conditions

Operating Conditions
Preconditions	None
Postconditions	State of the measurement is provided in the output. Inertia or Moment of inertia is also provided if measurement is Done

Description

Reads the current state and result of an XBot's inertia measurement. Use it after Measure Moment of Inertia to retrieve the measured value, or at any time to poll MeasurementState.

Changelog

PMC v117.27.14 (Fieldbus v6.03.063.00) - Command released in fieldbus libraries