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Short Axis

Short Axis

Owned by Comala Publishing
Jan 09, 2025
4 min read

This command can be used to control the Z-, Rx-, Ry-, and Rz-positions (also called the short axis) of the XBot.

Fieldbus Interface 

PMC_ShortAxisMotion

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

cmdLB

UINT

XbotID

USINT

Mode

USINT

0: Absolute Positioning; 1: Relative Positioning

Type_

USINT

0: XBot center is used as center of rotation; 1: User defined center is used as center of rotation

PosZ

REAL

Target Z Coordinates (m)

PosRx

REAL

Target RX Coordinates (rad): Tilt around X-axis (rad)

PosRy

REAL

Target RY Coordinates (rad): Tilt around Y-axis (rad)

PosRz

REAL

Target RZ Coordinates (rad): Rotation around Z-axis (rad)

VelZ

REAL

Z Direction Travel Speed

VelRx

REAL

RX Direction Rotation Speed

VelRy

REAL

RY Direction Rotation Speed

VelRz

REAL

RZ Direction Rotation Speed

Cx

REAL

When Type = 1, this is used to specified the X location of the rotation center, in m. Otherwise, this is ignored

Cy

REAL

When Type = 1, this is used to specified the Y location of the rotation center, in m. Otherwise, this is ignored

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Ack

BOOL

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

TravelTime

REAL

Traveling time (s)

Ethernet Interface 

MotionRtn ShortAxesMotionSI(ushort cmdLabel, int xbotID, POSITIONMODE positionMode, SHORTAXESCENTERMODE centerMode, double centerX, double centerY, double targetZmeters, double targetRXrads, double targetRYrads, double targetRZrads, double speedZmetersPs, double speedRXradsPs, double speedRYradsPs, double speedRZradsPs)

Name

Type

Description

Name

Type

Description

cmdLabel

ushort

xbotID

int

positionMode

enum

ABSOLUTE (0) = absolute positioning, RELATIVE(1) = relative positioning

centerMode

enum

XBOT_CENTER (0) = XBot center is the rotation center; USER_DEFINED_CENTER_XY (1) = user defines the rotation center

centerX

double

If USER_DEFINED_CENTER_XY is used, then this is the x coordinate of the user defined center (meters)

centerY

double

If USER_DEFINED_CENTER_XY is used, then this is the y coordinate of the user defined center (meters)

targetZmeters

double

Target Z position (meters)

targetRXrads

double

Target RX position (rads)

targetRYrads

double

Target RY position (rads)

targetRZrads

double

Target RZ position (rads)

speedZmetersPs

double

Max speed in the Z axis (m/s)

speedRXradsPs

double

Max speed in the RX axis (rad/s)

speedRYradsPs

double

Max speed in the RY axis (rad/s)

speedRZradsPs

double

Max speed in the RZ axis (rad/s)

Name

Type

Description

Name

Type

Description

MotionRtn.PmcRtn

PMCRTN enum

MotionRtn.TravelTimeSecs

float

Time required to complete this command, in seconds

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

Description

This command can be used to control the Z-, Rx-, Ry-, and Rz-positions (also called the short axis) of the XBot.

The maximum speed for each axis must be specified. The ending speed is zero. The input maximum speed will be automatically constrained if they are below or above the system limits. (The upper system short axes speed limit can be defined in the Configurator.)

The lower limit is Vz = 0.0002 m/s, Vrx = Vry = Vrz = 0.02 rad/s

It’s possible to rotate the XBot around some point that is not its own center. Use the “User Specified Center” mode.

In this case, the rotation center is specified in absolute coordinates with respect to the system origin. The XBot will move in X,Y, and RZ to always maintain the same distance from the rotation center, and achieve the desired RZ value.

It is also possible to specify the tilt relative to the user defined rotation center.

In the user defined section mode, Z is used to specify the rotation center height, and Rx and RY is used to specify the tilt relative to the rotation center.

The Rx and Ry (tilt) limits depend on the levitation height of the XBot. When the XBot is at a greater height, the XBot can achieve a greater tilt angle without touching the flyway. Conversely, if the XBot height is low, commands with tilt angles that would cause the XBot to touch the flyway will be rejected.

 

 

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