XBot Group Bond Control

Use this command to control the group bond status. A bonded group can be moved as one, by sending a motion command to any individual XBot in the connected group.

Fieldbus Interface

PMC_BondXbotGroup

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
GroupID	USINT	Group ID corresponding to which group to operate
IsBond	BOOL	FALSE: Unbond member XBots; TRUE: Bond member XBots
Mode	USINT	0: XY position decoupled with Rz position; 1: XY position coupled with Rz position
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
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 BondXbotGroup(int groupID, bool isBond, GROUPBONDOPTIONS bondoptions)

Parameters

Name	Type	Description
groupID	int	Group ID
isBond	bool	FALSE: Unbond member XBots; TRUE: Bond member XBots
bondoptions	enum	SIXDOF_DECOUPLED (0) = 6 degrees of freedom bonded, but X, Y, Z are decoupled from RX, RY, RZ; SIXDOF_COUPLED (1) = 6 degrees of freedom bonded, X, Y, Z are coupled with RX, RY, RZ;

Returns

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

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The XBot(s) in the group will be bonded or unbonded.

Description

Use this command to control the group bond status. A bonded group can be moved as one, by sending a motion command to any individual XBot in the connected group. The motion command target position will be applied to that XBot. This can also be used to unbond the XBots in the group.

in XY decoupled from RZ Mode:

in XY coupled with RZ Mode:

When one XBot is operated by one command such as motion commands, levitation command, stream command, stop command, all members in the group will be indirectly driven by the command as well by maintaining the relative positions
Levitation and force mode in a connected group will cause all XBots to experience the same levitate/land and force mode on/off command. Relative positions between XBots may no longer be maintained