Rotary Motion P2P

The Rotary Motion P2P (point to point) command can be used to rotate an XBot to any arbitrary Rz position.

The XBot must be positioned at the center of the Flyway in order to be rotated.

For general rotation limits, see Full Rotation Motions

Fieldbus Interface

PMC_RotaryMotion

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
cmdLB	UINT	Any 2 byte Command Label, user defined.
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
BoundaryMode	SINT	0: High performance (requires an entire Flyway to be empty) 1: Compact (neighbour XBots can encroach up to 15mm onto the Flyway with rotating XBot)
MotionMode	SINT	0: Absolute motion 1: Relative motion
WrapMode	SINT	Angle wrapping mode 0: Absolute Position, cumulative rotations counted, up to 100 rotations 1: Positive Rz rotation (counter clockwise) in the range of [0,2π) -1: Negative Rz rotation (clockwise) in the range of [0,2π)
Angle	REAL	Target angle of rotation in radians
MaxVel	REAL	Max velocity in rad/s
MaxAcc	REAL	Max Acceleration in rad/s2
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.
TravelTime	REAL	Traveling time (s)

MotionRtn RotaryMotionP2P(ushort cmdLabel, int xbotID, ROTATIONMODE mode, double targetRz, double targetRzVel, double targetRzAcc)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
mode	enum	Angle wrapping mode NO_ANGLE_WRAP: Absolute Position, cumulative rotations counted, up to 100 rotations WRAP_TO_2PI_CCW: Positive Rz rotation (counter clockwise) in the range of [0,2π) WRAP_TO_2PI_CW: Negative Rz rotation (clockwise) in the range of [0,2π)
targetRz	double	Target angle of rotation in radians
targetRzVel	double	Max velocity in rad/s
targetRzAcc	double	Max Acceleration in rad/s2

Returns

Name	Type	Description
MotionRtn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
MotionRtn.TravelTimeSecs	float	Time required to complete this command, in seconds

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Motion state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

The Rotary Motion P2P (point to point) command can be used to rotate an XBot to any arbitrary Rz position.

The XBot must be positioned at the center of the Flyway in order to be rotated.