Read XBot Force | Planar Motor

Read force data of a particular XBot.

Fieldbus Interface

PMC_ReadXbotForce

Inputs

Name	Data Type	Description
Enable	BOOL	Set to TRUE to enable the function block. It will continuously obtain the most up-to-date value(s) until reset to FALSE.
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 up-to-date. FALSE: output values are last known values.
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 buffer to store all XBot forces, and a multiplexed response from the PMC to get new data. This means each cycle stores the force information of 1 XBot into the buffer. The command fetches the information from the storage buffer for the specified XBot. This means:

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