Stream Mode Control

Control (up to) all 6 axis of the XBot using a reference stream of position points. This is only possible using Real-time Ethernet communication protocols. See also Feedback Configuration.

This command is used to start the streaming motion, further position updates are provided using the Write to Stream command.

Fieldbus Interface

PMC_StreamModeCtrl

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
Level	USINT	0 = Stop Stream mode, 1 = Start stream mode
nXbots	USINT	Number of XBots to run stream, from 1 to 9
XbotID	USINT[0..8]	Array of size 9, enter up to 9 XBot IDs of the XBots that should be moved.
StmID	USINT[0..8]	Array of size 9, enter up to 9 stream IDs of the XBots that should be moved.
StmAxis	USINT[0..8]	Array of size 9, bitmap of which axis to enable streaming. Bit = 1 means stream that axis, 0 means don’t stream that axis. Bit0: X; Bit1: Y; Bit2: Z; Bit3: Rx; Bit4: Ry; Bit5: Rz
offsetX	REAL[0..8]	Ignored. Offset in X for stream position (m)
offsetY	REAL[0..8]	Ignored. Offset in Y for stream position (m)
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
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.
StreamStartPosX	REAL[0..8]	Offset between the reference position and stream value is automatically calculated when the stream becomes active as: StreamStartPosX = current reference position - stream value
StreamStartPosY	REAL[0..8]	Offset between the reference position and stream value is automatically calculated when the stream becomes active as: StreamStartPosY = current reference position - stream value

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified XBot(s) will enter the Motion State.

Description

It is possible to control all 6 axes of the XBot using an external reference stream of position points. This is only possible using Real-time Ethernet communication protocols.

The streaming reference position of the XBot is relative to the XBot’s reference position when this command is executed.

When linking an XBot to a stream, you may specify which XBot axis should follow the stream values. XBot axis that do not follow stream values will maintain their initial positions and ignore any data in the stream. Turn on a stream axis by setting the corresponding bit to 1 in StmAxis.

Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
Reserved (0)	Reserved (0)	RZ	RY	RX	Z	Y	X

The stream of position points is provided to the PMC in the communication packet from the user controller to the PMC. These position points can be provided at the update interval of the communication protocol. (Typically 1 millisecond)
A stream can be used to drive multiple XBots
When an XBot is operating in stream mode, it will reject additional motion commands. It will accept the Stop command and Deactivation command, which will also unlink the stream
The stream command cannot be added to an XBot’s command buffer
The stream can only be activated when the XBot is in the Idle or Stopped states, including the instance when an XBot has a non-empty blocked motion buffer
Incoming stream data must abide by the acceleration limits. Streams that exceed these limits will not be applied to the XBots and the XBots will stop

Changelog

PMC v117.17.43 - Moved X and Y offsets from input to the output

PMC v117.20.40 - Added X and Y offsets back to the input to prevent breaking changes