Wait Until Time Delay

Wait until the specified amount of time has passed. When the condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilTimeDelay

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]
Delay	REAL	Delay in seconds
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	TIME_DELAY (0): use time delay as trigger source
triggerParameters	struct	When triggerSource is set as TIME_DELAY, the following parameters are required: delaySecs: delay duration (s)

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 amount of time has passed.

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 Time Delay before executing its motion command: It will wait a user specified amount of time (s), then execute its motion command. By specifying a waiting time equal to XBot 1’s motion command travel time, XBot 2 can move immediately after XBot 1 clears its path. XBot 1’s motion command travel time is provided in the PMC reply for that command request.