/
Get Motion Buffer Status

Get Motion Buffer Status

Owned by Comala Publishing
Jan 09, 2025
2 min read

Get the status of an XBot Motion Buffer.

Fieldbus Interface 

PMC_GetBufferStatus

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

XbotID

USINT

ID of the XBot.

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

State

USINT

0: Buffer is released; 1: Buffer is blocked

nCmds

UINT

Number of commands in motion buffer

nextCmdLb

UINT

The upcoming command in the motion buffer

newCmdLb

UINT

The most recently added command to the motion buffer

Ethernet Interface 

MotionBufferReturn MotionBufferControl(int xbotID, MOTIONBUFFEROPTIONS bufferOption)

Name

Type

Description

Name

Type

Description

xbotID

int

ID of the XBot.

bufferOption

enum

BLOCKBUFFER (0) = block buffer; RELEASEBUFFER (1) = release buffer; CLEARBUFFER (2) = clear buffer

Name

Type

Description

Name

Type

Description

MotionBufferReturn.PmcRtn

PMCRTN enum

MotionBufferReturn. MotionBufferStatus

struct

  • bool isBufferBlocked: true if buffer is blocked, false if buffer is not blocked

  • int bufferedMotionCount: number of motions stored in the specified XBot’s motion buffer

  • int firstBufferedMotionCmdLabel: command label of the first command in the specified XBot’s motion buffer

  • int lastBufferedMotionCmdLabel: command label of the last command in the specified XBot’s motion buffer

  • int xbotID: ID of the XBot that this return is describing

Conditions

Operating Conditions

Operating Conditions

Preconditions

None

Postconditions

The XBot’s buffer status will be provided in the output

Description

Get the status of an XBot Motion Buffer.

  • The next command label is the upcoming command in the Motion Buffer (will be executed first)

  • The new command label is the newest command in the Motion Buffer (will be executed last)

There is no explicit command to get the buffer status using Ethernet. Instead, the status is provided in the return value when blocking/unblocking the motion buffer. 

 

Feedback and Comments

Please email us at tech.portal@planarmotor.com