Start Up Planar Motor System

Activate and levitate all XBots, then provide the ID of discovered XBots in the output.

Fieldbus Interface

PMC_StartUpPlanarMotorSystem

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
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.
NumXbots	USINT	Number of XBots in system
Xbot_IDs	USINT[0..77]	XBot ID array of XBots in the system

Operating Conditions
Preconditions	PMC state is INACTIVE or ERROR, XBots not controlled by the system.
Postconditions	PMC state goes into ACTIVATING, then OPERATIONAL. XBots are levitated.

Activate and levitate all XBots, then provide the ID of discovered XBots in the output.

This command can be used to combine several commonly used commands at system start up. It will:

The command will perform the necessary error checks at each step and only complete successfully if all steps have succeeded.