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Main

Safety

Proper Use
Hazardous Energy
Qualified Personnel

XBot Safety

M3 XBots Magnetic Field Diagrams
M4 XBots Magnetic Field Diagrams

Flyway Safety
Safe Disposal of Hardware
Safe Torque Off (STO)

Getting Started

Site Preparation

Mechanical Setup

Flyway Cooling Setup

Electrical Setup

Control Cabinet Wiring

Software Setup

Configure Host PC
Host PC to PMC Connection
Installation and Quick Start
Usage Examples

Hardware Specifications

3-Series

S3 Flyways (Stators)

S3-xS-04.08
S3-xN-04.08

M3 XBots (Movers)

Standard 3 Series XBots

M3-06-SD00-04 (aka M3-06-04)
M3-06-SD00-10
M3-08-SD00-05 (aka M3-08-05)
M3-09-SD00-11
M3-10-SD00-11
M3-12-SD00-11
M3-13-SD00-11
M3-15-SD00-11
M3-17-SD00-11
M3-18-SD00-11
M3-25-SD00-11

Rugged 3-Series XBots

M3-06-RG00-10

Chemical Resistant 3 Series XBots

M3-06-CR01-10
M3-08-CR01-10
M3-09-CR01-10
M3-12-CR01-10
M3-13-CR01-10

Hygienic 3 Series XBots

M3-06-HY01-10
M3-08-HY01-10
M3-09-HY01-10
M3-12-HY01-10
M3-13-HY01-10

High Temperature 3 Series XBots

M3-06-HT01-10
M3-08-HT01-10
M3-09-HT01-10
M3-12-HT01-10
M3-13-HT01-10

4-Series

S4 Flyways (Stators)

S4-xS-04.08
S4-xN-04.08

M4 XBots (Movers)

Standard 4 Series XBots

M4-09-SD00-10
M4-11-SD00-11
M4-12-SD00-11
M4-13-SD00-11
M4-16-SD00-11
M4-18-SD00-11
M4-20-SD00-11
M4-22-SD00-11
M4-24-SD00-11
M4-33-SD00-11

Rugged 4 Series XBots

M4-09-RG00-10

Chemical Resistant 4 Series XBots

M4-09-CR01-10
M4-11-CR01-10
M4-12-CR01-10
M4-13-CR01-10
M4-16-CR01-10

Hygienic 4 Series XBots

M4-09-HY01-10
M4-11-HY01-10
M4-12-HY01-10
M4-13-HY01-10
M4-16-HY01-10

High Temperature 4 Series XBots

M4-09-HT01-10
M4-11-HT01-10
M4-12-HT01-10
M4-13-HT01-10
M4-16-HT01-10

Planar Motor Controller (PMC)

C-XXX-6.2 Technical Details

Accessories

Planar Motor Network (PMNet) Cables

PMNet Cable NC-006-CS
PMNet Cable NC-028-CS / NC-050-CS / NC-100-CS
PMNet Cable NC-006-CR
PMNet Cable NC-028-CR / NC-050-CR / NC-100-CR

PMC Cable Sets

PMC Power Cable CC-XXX-PWR
PMC Ethernet Cable CC-XXX-ETH
PMC Fieldbus Cable CC-XXX-FB

Flyway Power Cables

Power Cable PC-006-DR
Power Cable PC-006-DS
Power Cable PC-050-SR / PC-100-SR / PC-200-SR
Power Cable PC-050-SS / PC-100-SS / PC-200-SS

Power Supplies

Flyway Power Supply PS-1500-DIN
Flyway Power Supply PS-1500-XX
PMC Power Supply PS-0025-XX

Product Numbering

XBot Numbering
Flyway Numbering
Planar Motor Controller Numbering

Certifications

Certification Downloads

Software Manual

Quick Reference

PMC Fieldbus Error Codes
PMC Ethernet Error Codes

PMC Hardware Error Codes

PMC Hardware Error Code Breakdown

PMC State Descriptions
XBot State Descriptions
XBot Types
XBot ID Management
XBot Positioning Error Limits

Concepts

Loading Zone

Loading Zone Boundary (Fence)

Intersection Zone
Command Label

Auto Loading Zone

Loading Example
Unloading Example

Accident XBot Handling

Accident XBot Handling Example

Flyway Cluster Linking

Flyway Cluster Linking Example

System Commands

Activation
Deactivation

PMC Information

Get PMC Version
Get PMC Serial Number
Get PMC Status
Read PMC State
Get PMC Warning Code
Get PMC Warning Log
Get PMC Error Code
Get PMC Error Log
Set PMC Date and Time
Read TimeStamp

System Configuration

Get PMC Configuration
Set PMC Configuration

System Start Up

Start Up Planar Motor System
Reboot PMC
Set XBot Orientation
Get Spaced XBot Positions

System Connection

Auto Connect to PMC
Connect to Specified PMC
Gain Mastership

Service Mode Control
Auto Refresh

Basic Motion Commands

XY Motion
Single Axis Motion
Short Axis

Arc Motion

Arc Motion Center and Angle
Arc Motion Target and Radius

Stop XBot Motion

Pause/Resume

Pause XBots
Resume XBot

Levitation

Levitation/Landing
Levitation/Landing with Speed Control

Motion Macro

Clear Motion Macro
Get Motion Macro Status
Run Motion Macro
Save Motion Macro

Rz Full Rotation

Rotary Motion Spin
Rotary Motion P2P

Wait Until

Wait Until Displacement
Wait Until Command Label
Wait Until Zone
Wait Until Time Delay
Wait Until Fieldbus Digital Input

Motion Buffer

Get Motion Buffer Status
Motion Buffer Control

Jog

Jog Velocity
Jog Short Axis

6DOF

6 DOF Motion
6 DOF Motion With Velocity

G-code

Run G-code
Read G-code
Save G-code
Get G-code IDs
Delete G-code

Advanced Motion Commands

Synchronous Motion

Trajectory

Delete Trajectory
Save Trajectory
Activate Trajectory
Read Trajectory Hash

Stream

Configure Feedback Stream
Read Stream Feedback
Configure Feedback Stream Extended
Read Stream Feedback Extended
Stream Mode Control
Write to Stream

Star-Planet

Planet XBots Control
Get Star
Get Planets

Cam

Cam Mode Control
Cam Mode Control Bufferable
Cam Mode Control Advanced

Group

Create XBot Group
Delete XBot Group
XBot Group Buffer Control
XBot Group Bond Control
Get XBot Group Status
Group Linear Motion

Auto Driving

Auto Driving Default Velocity
Auto Driving Specified Velocity

Mover Management Commands

Mover Stereotype

Define Mover Stereotype
Assign Mover Stereotype
Read Mover Stereotype Definition

Accident Handling

Read Num Accident XBots
Get All Accident XBots
Get All Accident Locations
Recover Accident XBot

Virtual XBot

Virtual XBot Teleport
Virtual XBot ReadPos Control

Status

Read XBot Status
Read XBot Force
Read XBot Speed
Read XBot IDs
Read XBot Position
Read XBot State
Read XBot State Extended
Get XBot IDs
Get XBot Status

Weighing

Weigh XBot
Weigh XBot Async
Weigh XBot Tare
Payload Weighing [Deprecated]

Noise

Inject Noise
Inject Noise Delay

Hold For Status

Hold for XBots State
Hold for XBot State
Hold for XBots Idle
Hold for XBot Idle
Hold for PMC State

Set Jerk Limit

Force Mode

Force Mode Ctrl
Force Mode Extended
Force Mode Limits

Find XBots In Area
XBot Part Control

External Interface Commands

Conveyor Interface

Create Auto Loading Zone
Delete Auto Loading Zone
Activate Auto Loading Zone
Deactivate Auto Loading Zone
Hold For Auto Loading Zone
Get Auto Loading Zone Status
Get All Auto Loading Zone Status
Unload XBot from Auto Loading Zone
Auto Loading Zone Clear

Border/Flyway Cluster Linking

Get Incoming XBots
Get Incoming XBots Extended
Get Border Status
Read Number of Incoming XBots

Using Digital Output from PMC

Configure Digital Output from PMC

Configure Digital Output for Force
Configure Digital Output for Zone
Configure Digital Output for Command Label
Configure Digital Output for Displacement
Configure Digital Output for Motion

Read Digital Output from PMC

Using Digital Input to PMC

Configure Digital Input to PMC

Configure Digital Input As Trigger Source
Configure Digital Input To Quick Stop
Configure Digital Input To Run Macro
Configure Digital Input To Reset DO
Configure Digital Input To Cam

Send Digital Input to PMC

Stator Management Commands

Flyway Status

Get Flyway Serial Number
Get Flyway Error
Get Flyway Status
Get Flyway Position
Get All Flyway Network Errors
Get All Flyway Network Errors Ex

Power Sector

Recover Power Sector
Get Power Sector Status
Activate Power Sector
Deactivate Power Sector

Safety Sector

Recover Safety Sector
Get Safety Sector Status
Activate Safety Sector
Deactivate Safety Sector

Zone

Define Zone
Zone Fence
Zone Control
Zone Collision Control
Get Zone Status
Get Zone Status Extended
Zone Override
Zone Remove XBot
Zone Place XBot

Failed Flyways

Get All Failed Flyways
Recover Failed Flyway

Mover Identification Commands

RFID Reset IDs
RFID Get Xbot IDs
Mover ID Scan Mover ID
Mover ID Manual Scan
Mover ID Auto Scan
Mover ID Get Scan Location
Mover ID Read Scan Status
Mover ID Recover ID
Mover ID Change Absolute IDs
Mover ID Set
Mover ID Register IDs
Mover Label Get Label
Mover Label Set Label
Mover Label Get XBot ID

Downloads

PMC Changelogs

pmc 2026.02v7.24.19 (117.24.19)
pmc 2026.01v7.23.35 (117.23.35)
pmc 2025.11v7.22.55 (117.22.55)
pmc 2025.10v7.22.30 (117.22.30)
pmc 2025.09v7.22.07 (117.22.07)
pmc 2025.08v7.20.49 (117.20.49)
pmc 2025.07v7.20.40 (117.20.40)
pmc 2025.04v7.17.55 (117.17.55)
pmc 2025.03v7.17.43 (117.17.43)
pmc 2025.02v7.17.35 (117.17.35)
pmc 2025.01v7.17.12 (117.17.12)
PMC Checksums

PMLib Changelogs

pmlib 2026.01v7.23.35 (6.03.050.00)
pmlib 2026.01v7.23.35 (117.14.01)
pmlib 2025.11v7.22.55 (117.12.02)
pmlib 2025.09v7.22.07 (6.03.047.00)
pmlib 2025.08v7.20.49 (6.03.046.00)
pmlib 2025.08v7.20.49 (117.11.01)
pmlib 2025.07v7.20.40 (6.03.044.01)
pmlib 2025.03v7.17.43 (6.03.039.00)
pmlib 2025.02v7.17.35 (117.09.01)
pmlib 2025.01v7.17.12 (6.03.037.00)
pmlib 2025.11v7.22.55 (6.03.048.00)

PMT Changelogs

pmt 2026.02v7.24.19 (117.23.01)
pmt 2026.01v7.23.35 (117.22.01)
pmt 2025.11v7.22.55 (117.21.01)
pmt 2025.10v7.22.30 (117.19.01)
pmt 2025.09v7.22.07 (117.18.01)
pmt 2025.08v7.20.49 (117.17.01)
pmt 2025.07v7.20.40 (117.16.01)
pmt 2025.04v7.17.55 (117.15.01)
pmt 2025.03v7.17.43 (117.14.01)
pmt 2025.02v7.17.35 (117.13.01)
pmt 2025.01v7.17.12 (117.12.07)

Planar Motor Libraries

PC Platform: Control over Ethernet

Visual Studio .NET
Python
LabVIEW

PLC Platform: Control over Fieldbus

EtherCAT-Based Platform

ABB Automation Builder
Acontis EC-Engineer
Beckhoff TwinCAT
Bosch Rexroth ctrlX Works
CodeSys
Inovance InoProShop
IntervalZero RTX64 Kingstar
Omron Sysmac Studio
Phoenix Contact PLCnext Engineer
Schneider EcoStruxure Machine Expert EtherCAT
Wago CodeSys

Profinet-Based Platform

Siemens TIA Portal

Powerlink-Based Platform

B&R Automation Studio

EtherNet/IP-Based Platform

Allen Bradley Studio 5000
Mitsubishi GX Works3 EtherNet/IP
Schneider EcoStruxure Machine Expert EtherNet/IP
Keyence KV Studio

CC-Link IE Field-Based Platform

Mitsubishi GX Works3 CC-Link IE Field

3D Simulation Software

Emulate3D
Visual Components
Industrial Physics

Planar Motor Tool

Interface Overview

PMT Menu Bar
PMT System Mode Indicator
PMT Monitoring Window
PMT Command Training
PMT Command History
PMT Virtual XBot Monitoring
PMT Status
PMT Diagnostic

Command Training in Planar Motor Tool

Basic Motion in PMT

PMT-Pause & Resume
PMT-Stop Motion
PMT-Linear Motion
PMT-Single Axis
PMT-Arc Motion (Target & Radius)
PMT-Arc Motion (Center & Angle)
PMT-P2P Rz Rotation
PMT-Rotary Spin
PMT-Wait Until (Time Delay, Command Label)
PMT-Wait Until (Displacement)
PMT-Levitation
PMT-Motion Buffer
PMT-6 Degrees of Freedom Motion
PMT-Motion Macro (Normal)
PMT-Motion Macro (Infinite Loop)
PMT-Short Axis (XBot Center)
PMT-Short Axis (User Defined Center)

Advanced Motion in PMT

PMT-Group Operation (Unbonded)
PMT-Synchronous Motion
PMT-Planet XBots
PMT-Auto Driving Motion
PMT-Group Operation (Bonded)
PMT-Trajectory Motion

Mover Management in PMT

PMT-Activation
PMT-Force Mode

Mover Stereotype Configuration

PMT-Define Mover Stereotype
PMT-Assign Mover Stereotype to XBot
PMT-Read Stereotype Definition

PMT-Jerk Limit Control
PMT-Accident XBot
PMT-Payload Weighing
PMT-Get XBot Status

Stator Management in PMT

Zone in PMT

PMT-Zone Activation
PMT-Define Z-Limited Zone
PMT-Zone Fence
PMT-Remove XBots from Zone
PMT-Override Zone Speed
PMT-Add XBots to Zone
PMT-Get Zone Status
PMT-Define Zone

Useful Features

Diagnostic Using Planar Motor Tool
Command Help
Updating Planar Motor Controller
Jogging Using Planar Motor Tool
Position Preview

Configuring Planar Motor System

Open Configurator Window
General System Configuration
Flyway Layout Configuration
Trajectory Configuration
XBot Configuration
Feedback Configuration
Performance Limits
Cluster Border Configuration
Flyway Offset Configuration
Cam Configuration
Loading and Saving Configuration
XID Configuration
Power Sector Configuration

Application Notes

Liquid Cooling Guide
Flyway Hygienic Cover Guide

Mounting Plate Guide

S3-xS Mounting Plate Guide
S3-xN Mounting Plate Guide
S4-xS Mounting Plate Guide
S4-xN Mounting Plate Guide

Selecting a Levitation Height
E-Stop: Quick Stop and STO Implementation

Training

Demo: Planar Motor Tool Basic Functionality
Demo: Safety and Collision Avoidance
Demo: Layout Reconfiguration
Tutorial: Planar Motor Setup in 10 Minutes
Tutorial: Planar Motor Integration into Rockwell Studio 5000
Tutorial: Connection to Siemens PLC

Troubleshooting

Diagnostic Logs
Fieldbus Snapshot Capture
PMC Error | Flyway Bootup Failure

Breadcrumbs

Hardware Specifications
4-Series
M4 XBots (Movers)

On this Page

Rugged 4 Series XBots

XBot type		Nominal Dimensions	Payload	CAD Downloads
	M4-09-RG00-10	160 x 160 x 11 mm³	1.8 kg	2D / 3D

Questions and Sales Inquiries - Please email us at solutions@planarmotor.com
Disclaimer: Planar Motor Inc. reserves the right to make changes without further notice.

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