This command can be used to resume the motion of an XBot previously stopped using the Pause XBots command.
Fieldbus Interface
PMC_ResumeXbots
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]. 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 |
|---|
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 MotionInterruptCommand(int xbotID, MOTIONINTERRUPTOPTIONS motionInterruptOption)
Parameters
Name | Type | Description |
|---|
xbotID | int | ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127] |
motionInterruptOption | enum | RESUME = 0, PAUSE = 1 |
Returns
Name | Type | Description |
|---|
PMCRTN | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
Operating Conditions |
|---|
Preconditions | XBot State is Idle due to having been stopped by a Pause XBots command. |
Postconditions | XBot will resume its motion by executing the commands in its motion buffer, including the one that was paused. |
Description
This command can be used to resume the motion of an XBot previously stopped using the Pause XBots command.
