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 Fieldbus 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.
