Read XBot State

Read the state of an XBot. See also XBot State Description

Fieldbus Interface

PMC_ReadXbotState

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 have been successfully read. FALSE: unable to obtain output values.
State	USINT	XBot State Descriptions. 0: Undetected; 1: Discovering; 2: Landed; 3: Idling; 4: Disabled; 5: Motion; 6: Wait; 7: Stopping; 8: Obstacle; 9: Hold; 10: Stopped; 14: Error

Conditions

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

Description

Read the state of an XBot. See also XBot State Description

Only real XBots IDs are supported