Auto Driving Specified Velocity

Commanding many XBots to move to their respective target positions according to an auto generated paths, avoiding collisions with each other collaboratively, with speed and acceleration that can be configured in the command.

For RoutingType, labeled routing means the specified XBots must go the corresponding positions specified in the position arrays, i.e., XbotID[0] must go to PosX[0] and PosY[0]. This should be used if the order of XBots is important, such as XBots 1 through 8 must line up in a line in ascending order.

For unlabeled routing, any of the XBots specified in the XBot ID array can go to any of the positions specified in the position arrays, i.e., XbotID[1] may go to PosX[0] and PosY[0], using the most convenient way possible. This should be used if the order of the XBots is NOT important, such as when 8 XBots should be in a line, but it does not matter which XBot is first, etc.

Fieldbus Interface

PMC_AutoDrivingMotionVelocity

Name	Data Type	Description

Name	Data Type	Description
Execute	BOOL
nXbots	USINT	Number of XBots to move, from 1 to 78. Multiple Auto Driving Motion command can be sent sequentially to move more than 78 XBots
RoutingType	USINT	0: Labeled routing (Order of XBots in the arrays is preserved) 1: Unlabeled routing (XBots will go to most convenient XY coordinates, regardless of their order in the arrays)
ZoneID	USINT	(>0) Zone within which to route the XBots. Note: 0 means no specific zone.
XbotID	USINT[0..77]	Array of size 78, enter up to 78 XBot IDs of the XBots that should be moved.
PosX	REAL[0..77]	Array of size 78, Absolute target X Coordinates (m), for the up to 78 XBots specified in the XbotID array
PosY	REAL[0..77]	Array of size 78, Absolute target Y Coordinates (m), for the up to 78 XBots specified in the XbotID array
MaxVel	REAL	Max speed used during motion (m/s)
MaxAcc	REAL	Max acceleration used during motion (m/s2)
PM_Controller	PMControllerType

Name	Data Type	Description

Name	Data Type	Description
Ack	BOOL
Done	BOOL
Busy	BOOL
Aborted	BOOL
Error	BOOL
ErrorID	UINT

Ethernet Interface

PMCRTN AutoDrivingMotionSIWithSpeed(int xbotCount, ASYNCOPTIONS mode, double maxSpeed, double maxAccel, int[] xbotIDs, double[] targetsXMeters, double[] targetsYMeters, int zoneID = 0)

Name	Type	Description

Name	Type	Description
xbotCount	int	Number of XBots in this command
mode	enum	MOVEALL (0): Labeled routing; MOVEALL_UNLABELED (1): Unlabeled routing
maxSpeed	double	Max speed used during motion, m/s
maxAccel	double	Max acceleration used during motion, m/s2
xbotIDs	int[]	Array of XBot IDs that should move
targetsXMeters	double[]	Target X position for the corresponding XBot, meters
targetsYMeters	double[]	Target Y position for the corresponding XBot, meters
zoneID	int	(>0) Zone within which to route the XBots. Default: 0 means no specific zone.

Name	Type	Description

Name

Type

Description

PMCRTN

PMCRTN enum

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

Description

Commanding many XBots to move to their respective target positions according to an auto generated paths, avoiding collisions with each other collaboratively, with speed and acceleration that can be configured in the command.

User does not need to specify how each XBot gets to its destination, greatly reducing the Controller computation burden
The XBots will move at the user specified maximum speed and acceleration
At the start of the command, the system determines the rectangular routing area based on the starting and ending positions of the specified XBots. During this stage, all the XBots inside the routing area/specified zone must be idle or stopped
During the auto driving motion, XBots not involved in the motion may not enter the routing area, but may continue their motions as usual outside of this area

For RoutingType, labeled routing means the specified XBots must go the corresponding positions specified in the position arrays. Ie. XbotID[0] must go to PosX[0] and PosY[0]. This should be used if the order of XBots is important, such as XBots 1 through 8 must line up in a line in ascending order.

For unlabeled routing, any of the XBots specified in the XBot ID array can go to any of the positions specified in the position arrays. Ie. XbotID[1] may go to PosX[0] and PosY[0], using the most convenient way possible. This should be used if the order of the XBots is NOT important, such as when 8 XBots should be in a line, but it does not matter which XBot is first, etc.

Changelog

PMC v117.6.17 - Added ZoneID: the user can now define a zone and route only within that region by suppling the ZoneID to the command