Weigh XBot Async

Use this command to weigh the payload carried by the XBot. This command does not provide a reply immediately, but calculates the weight of the payload for the specified duration. It is a wrapper function for Weigh XBot, which uses ReturnType 1 and 2 and does not block the fieldbus.

Fieldbus Interface

PMC_WeighXbotAsync

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78].
Duration	REAL	Duration to measure the weight, in seconds. Recommended value: 0.2
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.
Weight	REAL	Payload weight, in kg

Conditions

Operating Conditions
Preconditions	XBot is in the Idle or Waiting State, at a consistent location
Postconditions	The measured payload is provided in the output

Description

Use this command to weigh the payload carried by the XBot. This command does not provide a reply immediately, but calculates the weight of the payload for the specified duration. It is a wrapper function for Weigh XBot, which uses ReturnType 1 and 2 and does not block the fieldbus.

This command is more repeatable than Payload Weighing, but takes longer to complete.

It is possible to weigh the payload carried by the XBot using the Weigh Xbot command. The resolution is 0.1g, the repeatability is about 0.2g, and accuracy depends on the calibration. Weighing should be completed with Z = 1mm, Rx = Ry = Rz = 0.

The weighing output is position dependent, to get meaningful results, it is best to always do the weighing from the same position. For all XBots, position it so that 2 edges of the XBot are aligned with 2 edges of the Flyway. For example, for M3-06 (120mm x 120mm), the positions that will provide the most accurate weighing result is at the 4 corners of the Flyway: (X,Y) = (60mm,60mm), (60mm,180mm), (180mm,60mm) and (180mm,180mm).