Stop XBot Motion

Sending this command will cause the XBot to stop in the shortest amount of time possible while conforming to the jerk and acceleration limits, as well as following the original command’s path.

Fieldbus Interface

PMC_StopXbots

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 PMC Reply Codes.

Ethernet Interface

PMCRTN XBOTCommands.StopMotion(int xbotID)

Parameters

Name	Type	Description
xbotID	int	ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]

Returns

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

Conditions

Operating Conditions
Preconditions	XBot State is Idle, Motion, Obstacle Detected, Stopped, Waiting, or Hold Position.
Postconditions	XBot will begin the process of stopping its motion, then enter the Idle state once it has stopped. The XBot's motion buffer will be cleared.

Description

Sending this command will cause the XBot to stop in the shortest amount of time possible while conforming to the jerk and acceleration limits, as well as following the original command’s path.

If the XBot is currently executing a motion command at the time the stop command is received by the PMC, the motion command will be cancelled (raise the Aborted signal) and the XBot will begin to stop and return to the Idle state
All queued motion commands in the motion buffer of the XBot will also be cleared and the Aborted signal will be raised for each motion command
An input of 0 for the XBot ID can be used to stop all XBots