Levitation/Landing

This command can be used to levitate or land the XBots with a specified speed and a landed force in Z.

Fieldbus Interface

PMC_LevitationCtrl

Name	Data Type	Description

Name	Data Type	Description
Execute	BOOL
XbotID	USINT
Level	USINT	0: Land; 1: Levitate
Speed	USINT	0 = (1.6s), 1 = (0.8s), 2 = (0.4s), 3 = (0.2s), 4 = (0.1s), 5 = (0.05s); All times are approximate
LandedZForce	REAL	Z axis force when the XBot is landed in Newtons
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 XBOTCommands.LevitationCommand(int xbotID, LEVITATEOPTIONS levMode)

Name	Type	Description

Name

Type

Description

xbotID

int

levMode

enum

LAND (0): land XBot(s), LEVITATE (1) : levitate XBot(s)

Name	Type	Description

Name

Type

Description

PMCRTN

PMCRTN enum

Conditions

Operating Conditions

Operating Conditions
Preconditions	XBot is Idle (Levitated) or Landed
Postconditions	XBot is either Idle (Levitated) or Landed, as specified

Description

This command can be used to levitate or land the XBots with a certain speed after the PMC has been activated. An XBot must be levitating in order to execute a motion command.

To levitate an XBot, it must initially be landed. To land an XBot, it must initially be levitating and is in the Idle or Stopped state.

An input of 0 for the XBot ID can be used to levitate/land all XBots.

Changelog

PMC v117.5.17 - Added landed z force and speed control for fieldbus interface