Write to Stream

When using Real-Time Ethernet to connect to the system, after the reference stream channel has been set up using the Stream Mode Control command, this command is used to write to the reference stream channel.

Fieldbus Interface

PMC_WriteStream

Inputs

Name	Data Type	Description
Enable	BOOL	Set enable to TRUE to execute the function block, FALSE to stop execution.
StmID	USINT	ID of the reference stream slot
AxisID	USINT	Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
Pos	REAL	Reference stream value, in SI units
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
Valid	BOOL	True: Successfully wrote to reference stream channel. False: Failed to write to reference stream channel.

Conditions

Operating Conditions
Preconditions	Reference Stream channel has been set up using the Stream Mode Control command
Postconditions	The reference stream data is updated with the relevant input from this function

Description

When using Real-Time Ethernet to connect to the system, after the reference stream channel has been set up using the Stream Mode Control command, this command is used to write to the reference stream channel.

Behaviour During Obstacles

If an XBot encounters an obstacle (i.e. another XBot is in the way) while following a stream, it will go to the Stopped State. Its motion will not be resumed even if the obstacle XBot is moved away. To continue writing values to the XBot through the stream, the stream needs to be enabled again using Stream Mode Control.