Read Stream Feedback

When using Real-Time Ethernet to connect to the system, after the feedback stream channel has been set up using the Configure Feedback Stream command, this command is used to read the actual feedback values.

Fieldbus Interface

PMC_ReadStreamFeedback

Inputs

Name	Data Type	Description
Enable	BOOL	Set enable to TRUE to execute the function block, FALSE to stop execution.
StreamChannelID	USINT	ID of the feedback stream slot
XBotAxisID	USINT	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
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.
FeedbackValue	REAL	Value read from stream. SI units for position and force/torque feedback.

Conditions

Operating Conditions
Preconditions	Feedback Stream channel has been set up using the Configure Feedback Stream command
Postconditions	The FeedbackValue output is set to the data from the feedback stream

Description

When using Real-Time Ethernet to connect to the system, after the feedback stream channel has been set up using the Configure Feedback Stream command, this command is used to read the actual feedback values.