Run Motion Macro

After a Motion Macro has been saved, a Run Motion Macro command is used to allow an XBot to run the saved commands in the Macro.

If a Motion Macro has not been saved, this command can be used to make a Motion Macro call itself, by setting the input XbotID = MacroID. In this case, the Motion Macro will be an infinite loop, and the Motion Macro is automatically saved after sending this command.

Fieldbus Interface

PMC_RunMacro

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.
MacroID	USINT	Macro ID, valid range [128,191]
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
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 RunMotionMacro(ushort cmdLabel, int motionMacroID, int xbotID)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
motionMacroID	int	Macro ID, valid range [128,191]
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]

Returns

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

Conditions

Operating Conditions

Preconditions

Macro is in the saved state, or macro is in the unsaved state, and Input XbotID = MacroID.

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.

If input XbotID = MacroID, then the run macro command will be added to the specified macro, and the macro will be saved.

Description

After a Motion Macro has been saved, a Run Motion Macro command is used to allow an XBot to run the saved commands in the Macro.

A Run Motion Macro command can be placed into an XBot’s motion command buffer.

Once an XBot begins executing this command, it will follow all the saved commands in the Macro in sequence.

The diagram below illustrates the system operation when a Run Macro command includes another Run Macro command.

An XBot running Macro 1 will run Actions 1 & 2, followed by Actions A & B, and finally Actions 4 & 5.

If a Motion Macro has not been saved, this command can be used to make a Motion Macro call itself, by setting the input XbotID = MacroID. In this case, the Motion Macro will be an infinite loop, and the Motion Macro is automatically saved after sending this command.

An XBot running Macro 3 will run Action 3A, then 3B, followed by 3A and 3B, repeating infinitely until a Stop XBot command is used or an error occurs.