Read XBot Status

Read the current status of an XBot.

Fieldbus Interface

PMC_ReadXbotStatus

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.
ControlMode	USINT	0: XBot is in Position Mode 1: XBot is in Force Mode (See Force Mode)
MotionStatus	USINT	0: XBot is not paused 1: XBot is paused (See Pause XBots)
BufferStatus	USINT	0: Motion Buffer is not blocked 1: Motion Buffer is blocked (See Motion Buffer Control)
GroupStatus	USINT	0: XBot is not bonded to a group 1: XBot is bonded to a group (must move together with other XBots in the group, see XBot Group Operation)
PlanetStatus	USINT	0: XBot is not linked to a Planet XBot 1: XBot is linked to a Planet XBot (see Planet XBots Control)
LockStatus	USINT	0: XBot buffer is unlocked, commands can be added to XBot's buffer 1: XBot buffer is locked, commands cannot be added to XBot's buffer. This is caused by the XBot being controlled by an application command
StereotypeID	USINT	Active Stereotype ID for this XBot

Conditions

Operating Conditions
Preconditions	None
Postconditions	XBot's status data is provided in the output.

Description

This commands operates using a multiplexed response from the PMC to get new data. There is no buffer storage (to save precious PLC memory space), and so it may take more than 1 cycle to receive the response. You can still call the command multiple times in the same cycle. This means:

The age of the data (worst case) when calling this command is (cycle time)
The time it takes for the command (worst case) to provide a valid response is (cycle time * number of XBots)
A short cycle time is recommended for applications with a high number of XBots, in order to provide data in a reasonable time frame