Resume XBot | Planar Motor

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 Fieldbus Reply Codes.

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.

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.

This command can be used to resume the motion of an XBot previously stopped using the Pause XBots command.

On resuming Trajectory motion, it will interpolate position points until the trajectory can be followed precisely again