XBot Group Buffer Control
The XBot Motion Buffer of XBots in the specified group will be blocked or released simultaneously by this command.
Fieldbus Interface
PMC_BlockXbotGroup
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 |
IsBlock | BOOL | FALSE: Unblock member XBots' motion buffers; TRUE: block member XBots' motion buffers |
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 BlockXbotGroup(int groupID, bool isBlock)
Parameters
Name | Type | Description |
|---|
GroupID | int | Group ID |
IsBlock | bool | FALSE: Unblock member XBots' motion buffers; TRUE: block member XBots' motion buffers |
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 motion buffer of the XBot(s) in the group will be blocked or released. |
Description
The XBot Motion Buffer of XBots in the specified group will be blocked or released simultaneously by this command.
