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to Read XBot State, this function block also reads the state of Virtual XBots, but the state information may be outdated (not updated every PLC cycle, but multiplex with 1 XBot state updated per cycle).

Fieldbus Interface

PMC_ReadXbotStateEx

Inputs

Name	Data Type	Description
Enable	BOOL	Set enable to TRUE to execute the function block, FALSE to stop execution.
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 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. 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to Read XBot State, this function block also reads the state of Virtual XBots, but the state information may be outdated (not updated every PLC cycle, but multiplex with 1 XBot state updated per cycle).