PMC State Descriptions

State Descriptions

Enum Value	Value	Description

Enum Value	Value	Description
PMC_BOOTING	0	PMC is initializing
PMC_INACTIVE	1	PMC is inactive (not controlling XBots)
PMC_ACTIVATING	2	PMC is starting to control XBots
PMC_DISCOVERY	3	PMC is in the process of identifying absolute XBot IDs
PMC_SERVICE	4	PMC is in service mode, for example, it is performing diagnosis or updates. In this state, motion commands are disabled
PMC_FULLCTRL	5	PMC is in full control mode
PMC_RESERVED2	6	Reserved
PMC_DEACTIVATING	7	PMC is deactivating
PMC_ERRORHANDLING	8	PMC is handling an error
PMC_ERROR	9	PMC is in the error state, it needs to be activated or rebooted to go out of error state

State Diagram

The Planar Motor Controller (PMC) is responsible for the overall system operation. It has a few commands dedicated to starting, stopping, and rebooting the system.

When the PMC is in the Inactive or Error states, it does not control the XBots. It monitors the XBots’ positions without attempting to hold the XBots in place.

From the Inactive or Error states, the Activate PMC command can be used to put the PMC into the Operation state. In this state, the PMC has full control of the XBots, and is able to accept user commands for the XBots.

From the Operation state, the Deactivate PMC command can be used to put the PMC into the Inactive state.

The Reboot PMC command can be used when the PMC is in the Inactive, Operation, or Error states. The PMC will reload configuration settings, and reset to the Inactive state.