XBot ID Management

This article will provide an overview on how to manage XBot IDs.

ID assignment in Real Time ID Mode

On initial power up, the mover IDs will be sorted in the following order of decreasing priority:

Time at which mover was placed on the system
Mover Type big to small (for asymmetric movers, Y elongated first)
Mover position in X
Mover Position in Y

Afterwards:

Condition	Behaviour

Condition	Behaviour
Mover removed	Removed mover is logged, and this ID is reserved until soft reboot (up to 10 removed movers)
Mover added	The ID is assigned based on the following steps: Try to recover mover ID (if mover is placed within 50mm of previous mover position) Otherwise, assign based on rules defined above
PMC Power cycle*	ID is recovered based on previous pre-power cycle mover positions
PMC Soft reboot	ID is reset and re-assigned

*Maintaining IDs after power cycle in Real Time ID Mode behaves as follows:

For release prior to 2022.10v6.11.0, this feature is not available.
For release 2022.10v6.11.0 (PMC 11676), the PMC will attempt to maintain the ID assigned to a mover after power on.
For release 2022.12v6.12.0 (PMC 11684), the PMC can be configured to maintain the ID assigned to a mover after power on through the configurator:

ID assignment in Absolute ID Mode

On initial power up, Absolute ID is assigned based on the physical mover. Each mover, after the identification procedure, will always be assigned the same ID.

Absolute ID behaviour

Condition	Behaviour

Condition	Behaviour
Mover removed	ID is reserved
Mover added	ID is unknown, identification is needed
PMC Power cycle	ID is reset and re-identification is needed
PMC Soft reboot	ID is reset and re-identification is needed

Keep-Out Zones (Absolute ID Mode)

There may be areas on the system that XBots may not travel to.

To avoid sending XBots to these areas during activation / absolute ID scan, keep-out areas can be defined. The workflow is detailed below:

Define the keep-out zone(s) using Define Zone.
Turn on the fence for these zone(s) using Fence Control.
Activate using Activation.
Turn off the fence for these zone(s) using Fence Control.

Any XBot on the boundary, but whose center is not inside the zone, will be automatically moved out of the keep-out zone during activation.

Keep-In Zones (Absolute ID Mode)

To keep the XBots in a specific area during activation/absolute ID scan, keep-in areas can be defined:

Define the keep-in zone(s) using Define Zone.
Turn on the fence for these zone(s) using Fence Control.
Activate using Activation.
Turn off the fence for these zone(s) using Fence Control.

The XBot(s) should be fully inside the defined zone.