/
Read XBot Force

Read XBot Force

Owned by Comala Publishing
Jan 09, 2025
1 min read

Read force data of a particular XBot.

Fieldbus Interface

PMC_ReadXbotForce

Name

Data Type

Description

Name

Data Type

Description

Enable

BOOL

XbotID

USINT

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Valid

BOOL

Fx

REAL

XBot X Force Feedback (N)

Fy

REAL

XBot Y Force Feedback (N)

Fz

REAL

XBot Z Force Feedback (N)

Tx

REAL

XBot Torque around X axis Feedback (Nm)

Ty

REAL

XBot Torque around Y axis Feedback (Nm)

Tz

REAL

XBot Torque around Z axis Feedback (Nm)

Conditions

Operating Conditions

Operating Conditions

Preconditions

None

Postconditions

XBot's force data is provided in the output.

Description

This commands operates using a multiplexed response from the PMC to get new data. There is no buffer storage (to save precious PLC memory space), and so it may take more than 1 cycle to receive the response. You can still call the command multiple times in the same cycle. This means:

  • The age of the data (worst case) when calling this command is (cycle time)

  • The time it takes for the command (worst case) to provide a valid response is (cycle time * number of XBots)

  • A short cycle time is recommended for applications with a high number of XBots, in order to provide data in a reasonable time frame

 

 

Feedback and Comments

Please email us at tech.portal@planarmotor.com