Read XBot Force

Read force data of a particular XBot.

Fieldbus Interface

PMC_ReadXbotForce

Inputs

Name	Data Type	Description
Enable	BOOL	Set enable to TRUE to execute the function block, FALSE to stop execution.
XbotID	USINT	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
Valid	BOOL	TRUE: output values are valid. FALSE: output values are invalid.
Fx	REAL	XBot X Force Feedback (N)
Fy	REAL	XBot Y Force Feedback (N)
Fz	REAL	XBot Z Force Feedback (N)
Tx	REAL	XBot Torque around X axis Feedback (Nm)
Ty	REAL	XBot Torque around Y axis Feedback (Nm)
Tz	REAL	XBot Torque around Z axis Feedback (Nm)

Conditions

Operating Conditions
Preconditions	None
Postconditions	XBot's force data is provided in the output.

Description

This commands operates using a multiplexed response from the PMC to get new data. There is no buffer storage (to save precious PLC memory space), and so it may take more than 1 cycle to receive the response. You can still call the command multiple times in the same cycle. This means:

The age of the data (worst case) when calling this command is (cycle time)
The time it takes for the command (worst case) to provide a valid response is (cycle time * number of XBots)
A short cycle time is recommended for applications with a high number of XBots, in order to provide data in a reasonable time frame