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Read XBot Status

Read the current status of an XBot.

readxbotstatus.png

Fieldbus Interface

PMC_ReadXbotStatus

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 are up-to-date. FALSE: output values are last known values.

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

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 buffer to store all XBot status, and a multiplexed response from the PMC to get new data. This means each cycle stores the status information of 1 XBot into the buffer. The command fetches the information from the storage buffer for the specified XBot. This means:

  • The age of the data (worst case) when calling this command is (cycle time * # of XBots)

  • The time it takes for the command (worst case) to provide a response is (immediate)

  • A short cycle time is recommended for applications with a high number of XBots, in order to provide up-to-date data