Read the state of an XBot. See also XBot State Description
Fieldbus Interface
PMC_ReadXbotState
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. |
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
