Read XBot Position

Get buffered position data of a particular XBot.

Fieldbus Interface

PMC_ReadXbotPos

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.
PosX	REAL	XBot X Coordinates (m)
PosY	REAL	XBot Y Coordinates (m)
PosZ	REAL	XBot Z Coordinates (m)
PosRX	REAL	Tilt around X-axis (rad) – labelled as RX
PosRY	REAL	Tilt around Y-axis (rad) – labelled as RY
PosRZ	REAL	Tilt around Z-axis (rad) – labelled as RZ

Conditions

Operating Conditions
Preconditions	None
Postconditions	XBot’s position data is provided in the output.

Description

This commands operates using a buffer to store all XBot positions, and a multiplexed response from the PMC to get new data. This means each cycle stores the position 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 valid 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