Stop XBot Motion
- Comala Publishing
Sending this command will cause the XBot to stop in the shortest amount of time possible while conforming to the jerk and acceleration limits, as well as following the original command’s path.
Fieldbus Interface
PMC_StopXbots
Ethernet Interface
PMCRTN XBOTCommands.StopMotion(int xbotID)
Conditions
Operating Conditions | |
|---|---|
Preconditions | XBot State is Idle, Motion, Obstacle Detected, Stopped, Waiting, or Hold Position. |
Postconditions | XBot will begin the process of stopping its motion, then enter the Idle state once it has stopped. The XBot's motion buffer will be cleared. |
Description
Sending this command will cause the XBot to stop in the shortest amount of time possible while conforming to the jerk and acceleration limits, as well as following the original command’s path.
If the XBot is currently executing a motion command at the time the stop command is received by the PMC, the motion command will be cancelled (raise the Aborted signal) and the XBot will begin to stop and return to the Idle state
All queued motion commands in the motion buffer of the XBot will also be cleared and the Aborted signal will be raised for each motion command
An input of 0 for the XBot ID can be used to stop all XBots
Feedback and Comments
Please email us at tech.portal@planarmotor.com