Use this command to teleport a virtual XBot to a user specified position immediately.
Fieldbus Interface
PMC_VirtualXbotTeleport
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] |
PosX | REAL | Target Position, X, meters |
PosY | REAL | Target Position, Y, meters |
PosZ | REAL | Target Position, Z, meters |
PosRx | REAL | Target Position, Rx, radians |
PosRy | REAL | Target Position, Ry, radians |
PosRz | REAL | Target Position, Rz, radians |
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. |
Ethernet Interface
PMCRTN SetVirtualXbotPosition(int vXbotID, SixDOFInfo positionSI)
Parameters
Name | Type | Description |
|---|
vXbotID | int | Virtual XBot IDs [100,127] |
positionSI | struct | 6 DOF position, in SI units |
Returns
Name | Type | Description |
|---|
PMCRTN | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
Operating Conditions |
|---|
Preconditions | Virtual XBot is idle and has no planet XBots connected to it |
Postconditions | Virtual XBot arrives at the specified position |
Description
Use this command to teleport a virtual XBot to a user specified position immediately.
