Wait Until Zone

Monitor the number of XBots in the specified zone. When the monitoring condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilZone

Name	Data Type	Description

Name	Data Type	Description
Execute	BOOL
cmdLB	UINT
XbotID	USINT
TriggerZoneID	USINT	ID of the Zone that will be monitored/used to trigger release of the wait
TriggerType	USINT	When to trigger release. 0: rising edge 1: falling edge 2: greater than 3: less than
Threshold	USINT	Number of XBots threshold to wait until
PM_Controller	PMControllerType

Name	Data Type	Description

Name	Data Type	Description
Ack	BOOL
Done	BOOL
Busy	BOOL
Aborted	BOOL
Error	BOOL
ErrorID	UINT

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 zone contains the specified number of XBots.

Consider the following trajectory:

Zone 1 can only contain 1 XBot at a time. XBot 2 must wait for XBot 1 to exit the zone before XBot 2 can in turn enter it.

XBot 2 can execute a Wait Until command using a Zone Trigger before executing its motion command: XBot 2’s Wait Until command will monitor Zone 1's current number of XBots. When Zone 1's number of XBots is less than 1, the Wait Until command is completed, allowing XBot 2 to execute its motion command.

Planar Motor Technical Portal

Wait Until Zone

Fieldbus Interface

Conditions

Description

Feedback and Comments