This command is used to change the status of the part the XBot is carrying.
Fieldbus Interface
PMC_XbotPartCtrl
Inputs
Name
Data Type
Description
Execute
BOOL
Execution of the function block begins on a rising edge of this input.
nXbots
USINT
Number of XBots to change the Part State
XbotID
USINT[0..149]
IDs of XBots to change Part State
PartState
USINT[0..149]
Part States of the corresponding XBots
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 .
Conditions
Operating Conditions
Preconditions
None
Postconditions
The Part State of the XBot is updated
Description
This command is used to change the status of the part the XBot is carrying. It is primarily used in simulations to display images on the XBot to illustrate the different steps in a process.
