Recover Accident XBot

This command is used to recover a specific XBot or all XBots after an accident.

Fieldbus Interface

PMC_RecoverAccidentXbot

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
XbotID	USINT	ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]
RecoveryMode	USINT	0: Resume previous motion after recovery 1: Pause previous motion after recovery, but motion command is stored in motion buffer. Can be resumed (see Resume XBot) 2: Clear motion buffer after recovery
ShortAxis	USINT	0: Resume to default levitation position and 0 rotation axis position after recovery 1: Resume to previous short axis position after recovery
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.

Ethernet Interface

PMCRTN RecoverAccidentXbot(int xbotID, RECOVERXBOTMODE mode = RECOVERXBOTMODE.RESUME, RECOVERXBOTOPTIONS option = RECOVERXBOTOPTIONS.DEFAULT)

Parameters

Name	Type	Description
xbotID	int	ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]
mode	enum	RESUME (0): Resume previous motion after recovery PAUSE (1): Pause previous motion after recovery, but motion command is stored in motion buffer. Can be resumed (see Resume XBot) STOP (2): Clear motion buffer after recovery
option	enum	DEFAULT (0): Resume to default levitation position and 0 rotation axis position after recovery RESUME_PREV_SHORT_AXES (1): Resume to previous short axis position after recovery

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	None
Postconditions	The accident barrier will be removed, and if the accident XBot is still inside the barrier and in deactivated state, the XBot will be activated and ready to accept command.

Description

This command is used to recover a specific XBot (or all XBots at the same time) after an accident. After the recovery has completed, the XBot will take the shortest path back towards the original failure location so that it is back on the original path, then it will resume the previously programmed motions.