Read XBot IDs | Planar Motor

This command will obtain an array of XBot IDs in the system.

Fieldbus Interface

PMC_ReadXbotIDs

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.
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 have been successfully read. FALSE: unable to obtain output values.
NumXbots	USINT	Number of XBots in the system
Xbot_IDs	USINT[0..77]	Array of the XBots IDs in the system

Conditions

Operating Conditions
Preconditions	None
Postconditions	The array of XBot IDs is updated

Description

This command will obtain an array of XBot IDs in the system. Note that the array of XBot IDs and number of XBots are not cleared (reset to 0) once Enable is FALSE.