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 Fieldbus 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.
