Wait Until Command Label

Monitor the specified XBot's execution command label. When the monitoring condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilCmdLb

Name	Data Type	Description

Name	Data Type	Description
Execute	BOOL
cmdLB	UINT
XbotID	USINT
TriggerXID	USINT	ID of the XBot that will be monitored/used to trigger release of the wait.
TriggerType	USINT	When to trigger release. 0: Start of command execution 1: End of command execution 2: Any point during command execution
TriggerCmdLb	UINT	Command label to monitor that will release the wait
LabelType	USINT	0: Regular Motion Cmd Label 1: Run Macro Cmd Label
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 WaitUntil(ushort cmdLabel, int xbotID, TRIGGERSOURCE triggerSource, WaitUntilTriggerParams triggerParameters)

Name	Type	Description

Name	Type	Description
cmdLabel	ushort
xbotID	int
triggerSource	enum	CMD_LABEL (3): use command label as trigger source
triggerParameters	struct	When triggerSource is set as CMD_LABEL, the following parameters are required: triggerxbotID: ID of XBot to monitor triggerCmdLabel: command label to monitor CmdLabelTriggerType: enum with CMD_START (0), CMD_FINISH (1), or CMD_EXECUTING (2) options

Name	Type	Description

Name

Type

Description

PMCRTN

PMCRTN enum

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

If the XBot is ready to immediately begin executing the command, then the XBot will enter the Waiting state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

Description

Wait Until commands ensure an XBot does not execute additional commands until certain configurable conditions are met, this command waits until the specified XBot is executing a command with the specified command label.

Consider the following trajectory:

XBot 2 must wait for XBot 1 to complete its motion before XBot 2 can move to its target destination.

XBot 2 can execute a Wait Until command using a Command Label Trigger before executing its motion command: XBot 2’s Wait Until command will monitor XBot 1’s current command that has the specified command label. When the XBot 1’s monitored command finishes, the Wait Until command is completed, allowing XBot 2 to execute its motion command at the earliest possible time

Planar Motor Technical Portal

Wait Until Command Label

Fieldbus Interface

Ethernet Interface

Conditions

Description

Feedback and Comments