XY Motion

The linear motion command can be used to move the XBot towards the target position in a few ways:

Direct (straight line)
Move along the X-direction first, then move along the Y-direction
Move along the Y-direction first, then move along the X-direction

Fieldbus Interface

PMC_XYMotion

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
cmdLB	UINT	Any 2 byte Command Label, user defined.
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
Mode	USINT	0: Absolute Position. 1: Relative Positioning
Type_	USINT	0: Direct path to target. 1: X first, then Y. 2: Y first, then X
PosX	REAL	When Mode=0: Absolute X Coordinates (m) When Mode=1: Relative X Coordinates (m)
PosY	REAL	When Mode=0: Absolute Y Coordinates (m) When Mode=1: Relative Y Coordinates (m)
EndVel	REAL	Ending Speed (m/s), default = 0 m/s
MaxVel	REAL	Maximum Speed (m/s), default = 1.0 m/s
MaxAcc	REAL	Maximum Acceleration (m/s2), default = 10.0 m/s2
Radius	REAL	Turn Radius (m), if Type_ is 1 or 2
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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.
TravelTime	REAL	Traveling time (s)

Ethernet Interface

MotionRtn LinearMotionSI(ushort cmdLabel, int xbotID, POSITIONMODE positionMode, LINEARPATHTYPE pathType, double targetXmeters, double targetYmeters, double finalSpeedMetersPs, double maxSpeedMetersPs, double maxAccelerationMetersPs2, double cornerRadius = 0)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
positionMode	enum	ABSOLUTE (0) = absolute positioning, RELATIVE(1) = relative positioning
pathType	enum	DIRECT (0) = direct to target; XTHENY (1) = X first, then Y; YTHENX (2) = Y first, then X
targetXmeters	double	Target X position, or relative increment in X, in meters
targetYmeters	double	Target Y position, or relative increment in Y, in meters
finalSpeedMetersPs	double	Final Speed (m/s)
maxSpeedMetersPs	double	Max Speed (m/s)
maxAccelerationMetersPs2	double	Max Acceleration (m/s^2)
cornerRadius	double	Corner radius for XTHENY or YTHENX motion, in meters

Returns

Name	Type	Description
MotionRtn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
MotionRtn.TravelTimeSecs	float	Time required to complete this command, in seconds

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Motion state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

Description

The linear motion command can be used to move the XBot towards the target position in a few ways:

Direct (straight line)
Move along the X-direction first, then move along the Y-direction
Move along the Y-direction first, then move along the X-direction

Only the X- and Y-positions (also called the long axis) are controlled by this command. The Z-, Rx-, Ry-, and Rz-positions are maintained during this motion command.

Using this command in X-then-Y or Y-then-X mode will send two separate linear commands with the same command label to the XBot. Direct mode only counts as one linear command.

The target position can be specified either in absolute coordinates or relative coordinates. Relative coordinates are relative to the reference position of the XBot when the command begins execution. The maximum speed and acceleration must be specified. The input maximum speed and acceleration will be automatically adjusted if they are below or above the configured system limit settings.

Ending speed:

The desired ending speed must also be specified:

Ending speed = 0 means that the XBot will stop at the end target position
Ending speed > 0 can be used to connect multiple motion commands seamlessly (see below)
If the ending speed is unachievable within the distance available between the starting and end positions, the PMC will automatically limit the ending speed to an achievable value

If the ending speed is non-zero but no motion command is available to be run by the XBot when it is done executing the initial linear motion command, the XBot will:

Begin decelerating to a complete stop after reaching the target position
Backtrack to the target position in the shortest time possible after stopping completely
Therefore, it may appear as though the XBot has overshot its target position. If the target position is located close to the flyway boundary and would cause the overshoot to exceed the flyway boundary, then the command will be rejected

Blended Motion:

When a radius greater than 10 um is specified and the path type is either X-then-Y or Y-then-X, an arc motion will be automatically inserted between the two linear motion commands.

If a radius smaller than the minimum radius needed to maintain the specified maximum speed is inputted, the PMC will automatically lower the speed to a value within system limits. Blended Motion cannot be currently added to a Motion Macro.

The radius value is ignored if the path type is Direct.

Changelog

PMC v117.11.6 - Added Radius, which enables blended motion when path type is X-then-Y or Y-then-X