Wait Until Zone

Monitor the number of XBots in the specified zone. When the monitoring condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilZone

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]
TriggerZoneID	USINT	ID of the Zone that will be monitored/used to trigger release of the wait
TriggerType	USINT	When to trigger release. 0: rising edge 1: falling edge 2: greater than 3: less than
Threshold	USINT	Number of XBots threshold to wait until
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.

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 zone contains the specified number of XBots.

Consider the following trajectory:

Zone 1 can only contain 1 XBot at a time. XBot 2 must wait for XBot 1 to exit the zone before XBot 2 can in turn enter it.

XBot 2 can execute a Wait Until command using a Zone Trigger before executing its motion command: XBot 2’s Wait Until command will monitor Zone 1's current number of XBots. When Zone 1's number of XBots is less than 1, the Wait Until command is completed, allowing XBot 2 to execute its motion command.