A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to read a stereotype definition.
See also Define Mover Stereotype
Fieldbus Interface PMC_MoverStereotype_ReadDef
Inputs
Name
Data Type
Description
Execute
BOOL
Execution of the function block begins on a rising edge of this input.
MoverType
USINT
M3-06 = 0, M3-08 = 2, M3-10 = 6, M3-11 = 8, M3-12 = 12, M3-13 = 14, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See Mover Types )
StereotypeID
USINT
Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation. 0 is default all-zero stereotype.
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 .
PerformanceLevel
USINT
0 = most stable, 3 = most responsive
Cg
REAL[0..2]
Overall center of gravity [Cgx, Cgy, Cgz], in meters.
PayloadWeight
REAL
Payload weight, in kg
PayloadSize
REAL[0..3]
Payload size as measured from XBot center. [+x, -x, +y, -y] dimensions, in meters
EmergencyStopDecel
REAL
Deceleration limit during emergency stop (m/s^2)
Ethernet Interface MoverStereotypeDefinitionReturn ReadMoverStereotypeDefinition(MOVERTYPE moverType,int stereotypeID)
Parameters
Name
Type
Description
moverType
enum
M3-06 = 0, M3-08 = 2, M3-10 = 6, M3-11 = 8, M3-12 = 12, M3-13 = 14, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See Mover Types )
stereotypeID
int
Stereotype ID, valid range [1,255]. 255 is used for Activation and Levitation.
Returns
Name
Type
Description
MoverStereotypeDefinitionReturn.PmcRtn
PMCRTN enum
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes .
MoverStereotypeDefinitionReturn.MoverStereotypeData
struct
Performance level: 0 = conservative, stable; 3 = aggressive, responsive
Payload information including weight (kg), center of gravity in x,y,z (m), payload dimensions as measured from the center of the XBot
Conditions Operating Conditions
Preconditions
The specified Stereotype ID has been defined
Postconditions
Information about the specified stereotype is provided in the output
A Mover Stereotype is a collection of settings for a particular mover type, that can be applied to any number of movers of the same type. Use this command to read a stereotype definition.
See also Define Mover Stereotype
