Zone Place XBot

This command is used to add XBot(s) to a zone in emulation mode.

Fieldbus Interface

PMC_Zone_PlaceXbotsEmulation

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
NumXbots	USINT	Number of XBots to place (max 9)
MoverType	USINT[0..8]	M3-06 = 0, M3-08 = 2, M3-10 = 6, M3-11 = 8, M3-12 = 12, M3-13 = 14, M3-17 = 18, M3-18 = 20, M3-25 = 22 (See Mover Types)
PosX	REAL[0..8]	X positions to place the XBots
PosY	REAL[0..8]	Y positions to place the 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.

PMCRTN AddXBotsToZone(int zoneID, XBOTTYPE[] xbotTypes, double[] xPositionM, double[] yPositionM)

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
xbotTypes	enum[]	An array containing the types of the XBot to add
xPositionM	double[]	An array containing the X starting position of the XBots in meters
yPositionM	double[]	An array containing the Y starting position of the XBots in meters

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Operating Conditions
Preconditions	The specified Zone is in Inactive_Fenced state
Postconditions	XBots are added to the Zone

This command is used to add XBot(s) to a zone in emulation mode.