Virtual XBot ReadPos Control

Virtual XBot Multiplex Position Feedback Control - Use this command to choose where the specified virtual XBot should be part of the cyclic multiplex position feedback. These are the feedback read using Read XBot Position.

Fieldbus Interface

PMC_VirtualXbotReadPosCtrl

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
XbotID	USINT	Virtual XBot IDs [100,127]
Mode	USINT	0: Enable ReadXbotPos for this virtual XBot; 1: Disable ReadXbotPos for this virtual XBot
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.

Conditions

Operating Conditions
Preconditions	None
Postconditions	The specified virtual XBot is added to or removed from the multiplexed cyclic position feedback

Description

Virtual XBot Multiplex Position Feedback Control - Use this command to choose where the specified virtual XBot should be part of the cyclic multiplex position feedback. These are the feedback read using Read XBot Position.