XBot Part Control

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 PMC 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.