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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.

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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 Fieldbus 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.