Read XBot Speed | Planar Motor

Read the current speed of a particular XBot.

Cyclic feedback streams (either Configure Feedback Stream or Configure Feedback Stream Extended) need to be set up before using this command.

Fieldbus Interface

PMC_ReadXbotSpeed

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.
FeedbackType	USINT	0: using normal feedback (Configure Feedback Stream). 1: using extended feedback (Configure Feedback Stream Extended).
ID	USINT	If using normal feedback, then the stream ID If using extended feedback, then the XBot ID
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.
SpeedX	REAL	Speed in the X axis in m/s
SpeedY	REAL	Speed in the Y axis in m/s
SpeedRz	REAL	Speed in the RZ axis in rad/s

Operating Conditions
Preconditions	None
Postconditions	XBot speed information is provided in the output.

This function block allows the user to read the current XBot speed.

The cyclic feedback position updates must have started at least 2 cycles before this function block is called.

This function block relies on setting up cyclic feedback streams using Configure Feedback Stream or Configure Feedback Stream Extended.