Read the current speed of a particular XBot.
Fieldbus Interface
PMC_ReadXbotSpeed
Inputs
Name | Data Type | Description |
|---|
Enable | BOOL | Set enable to TRUE to execute the function block, FALSE to stop execution. |
FeedbackType | USINT | |
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 are valid. FALSE: output values are invalid. |
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 |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | XBot speed information is provided in the output. |
Description
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.
