Wait Until Displacement

Monitor the specified XBot's displacement. When the monitoring condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilDisp

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
cmdLB	UINT	Any 2 byte Command Label, user defined.
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
TriggerXID	USINT	ID of the XBot that will be monitored/used to trigger release of the wait. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
dispMode	USINT	How to define boundary location. 0: using X only 1: using Y only 2: a straight line of arbitrary orientation
dispType	UINT	When to trigger wait release. 0: Greater than boundary value 1: Less than boundary value 2: rising above boundary value 3: falling below boundary value
Threshold	REAL	Used to Specify boundary location. dispMode = 0: X = threshold dispMode = 1: Y = threshold dispMode = 2: AX + BY = threshold
posXFactor	REAL	In dispMode = 2, the A value of AX + BY = threshold
posYFactor	REAL	In dispMode = 2, the B value of AX + BY = threshold
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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 WaitUntil(ushort cmdLabel, int xbotID, TRIGGERSOURCE triggerSource, WaitUntilTriggerParams triggerParameters)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
triggerSource	enum	DISPLACEMENT (4): use displacement/position as trigger source
triggerParameters	struct	When triggerSource is set as DISPLACEMENT, the following parameters are required: triggerxbotID: ID of XBot to monitor displacementTriggerMode: enum with X_ONLY (0), Y_ONLY (1), or AX_BY (2) = AX + BY options displacementTriggerType: enum with GREATER_THAN (0), LESS_THAN (1), POSITIVE_CROSS (2) = rising above threshold, NEGATIVE_CROSS(3) = falling below threshold displacementThresholdMeters: threshold to compare the monitored value to, meters lineParamAx: the A in AX+BY displacementTriggerMode lineParamBy: the B in AX+BY displacementTriggerMode

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Waiting state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

Description

Wait Until commands ensure an XBot does not execute additional commands until certain configurable conditions are met, this command waits until the specified XBot has reached a certain position

Consider the following trajectory:

XBot 2 must wait for XBot 1 to complete its motion before XBot 2 can move to its target destination.

XBot 2 can execute a Wait Until command using a Displacement Trigger before executing its motion command: XBot 2’s Wait Until command will monitor XBot 1’s position. Once XBot 1’s position reaches a certain threshold, the Wait Until command is completed, allowing XBot 2 to execute its motion command at the earliest possible time.