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 XBot 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 Fieldbus Reply Codes. |
Ethernet Interface
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. |
Conditions
|
Operating Conditions
|
|
Preconditions
|
The specified Zone is in Inactive_Fenced state
|
|
Postconditions
|
XBots are added to the Zone
|
Description
This command is used to add XBot(s) to a zone in emulation mode.
