This command is used to override the speed and acceleration used by XBots inside a zone.
Fieldbus Interface
PMC_Zone_OverrideZone
Inputs
Name | Data Type | Description |
|---|
Execute | BOOL | Execution of the function block begins on a rising edge of this input. |
ZoneID | USINT | Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone |
OverrideType | USINT | 0: Override with ratio; 1: Override with absolute speed and acceleration limits |
SpeedOverrideFactor | REAL | multiplicative factor or absolute limit for XBot speed in the zone (0-2 or m/s) |
AccOverrideFactor | REAL | multiplicative factor or absolute limit for XBot acceleration in the zone (0.001-2 or m/s^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 |
|---|
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 OverrideZone(int zoneID, double velocityFactor, double accelFactor, int mode=0)
Parameters
Name | Type | Description |
|---|
zoneID | int | Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone |
velocityFactor | double | Multiplicative factor or absolute limit for xbot speed in the zone (0-2 or m/s) |
accelFactor | double | Multiplicative factor or absolute limit for xbot acceleration in the zone (0.001-2 or m/s^2) |
mode | int | 0: Override with ratio (default); 1: Override with absolute speed and acceleration limits |
Returns
Name | Type | Description |
|---|
PMCRTN | PMCRTN enum | ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | Speed and Acceleration factors are applied to the zone |
Description
This command is used to override the speed and acceleration used by XBots inside a zone.
Changelog
PMC v117.10.10 - Added OverrideType: the user can now specify whether to use speed and acceleration override with ratio or absolute values
