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Read XBot State Extended

Read the state of an XBot. Compared to Read XBot State, this function block also reads the state of Virtual XBots, but the state information may be outdated (not updated every PLC cycle, but multiplex with 1 XBot state updated per cycle).

See also XBot State Description

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Fieldbus Interface 

PMC_ReadXbotStateEx

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

Real XBot IDs [1,78]. Virtual XBot IDs [100,127]

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. Compared to Read XBot State, this function block also reads the state of Virtual XBots, but the state information may be outdated (not updated every PLC cycle, but multiplex with 1 XBot state updated per cycle).