For commanding between 1 to 4 unique XBots to begin executing their respective XY motion commands at the same time.
Fieldbus Interface PMC_SyncMotion
Inputs
Execute
BOOL
nXbots
USINT
Number of XBots to synchronously move, from 1 to 4
XbotID
USINT[0..3]
Array of size 4, enter up to 4 XBot IDs of the XBots that should be moved
PosX
REAL[0..3]
Array of size 4, Absolute target X Coordinates (m), for the up to 4 XBots specified in the XbotID array
PosY
REAL[0..3]
Array of size 4, Absolute target Y Coordinates (m), for the up to 4 XBots specified in the XbotID array
EndVel
REAL[0..3]
Array of size 4, Ending Speed (m/s), for the up to 4 XBots specified in the XbotID array
MaxVel
REAL[0..3]
Array of size 4, Maximum Speed (m/s) , for the up to 4 XBots specified in the XbotID array
MaxAcc
REAL[0..3]
Array of size 4, Maximum Acceleration (m/s2) , for the up to 4 XBots specified in the XbotID array
PM_Controller
PMControllerType
Outputs
Ack
BOOL
Done
BOOL
Busy
BOOL
Aborted
BOOL
Error
BOOL
ErrorID
UINT
TravelTime
REAL
Traveling time (s)
Ethernet Interface MotionRtn SyncMotionSI(int XBOTCount, int[] xbotIDs, double[] targetsXMeters, double[] targetsYMeters, double[] finalSpeedsMetersPs, double[] maxSpeedsMetersPs, double[] maxAccelerationMetersPs2)
Parameters
XBOTCount
int
Number of XBots in this command, max 4
xbotIDs
int[]
Array of XBot IDs that will use synchronous motion
targetsXMeters
double[]
Target X position for the corresponding XBot, meters
targetsYMeters
double[]
Target Y position for the corresponding XBot, meters
finalSpeedsMetersPs
double[]
Final speed for the corresponding XBot, m/s
maxSpeedsMetersPs
double[]
Max speed for the corresponding XBot, m/s
maxAccelerationMetersPs2
double[]
Max acceleration for the corresponding XBot, m/s^2
Returns
MotionRtn.PmcRtn
PMCRTN enum
MotionRtn.TravelTimeSecs
float
Time required to complete this command, in seconds
Conditions
Preconditions
Postconditions
Description For commanding between 1 to 4 unique XBots to begin executing their respective XY motion commands at the same time.
Only linear motion commands and absolute coordinates are accepted
The commanded XBots’ state must be in the Idle or Stopped state
The commanded XBots’ Motion buffer must be empty and cannot be blocked, otherwise this command will be rejected
