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Motion Buffer Control

Motion Buffer Control

Owned by Comala Publishing
Jan 09, 2025
2 min read

This command manipulates the XBot Motion Buffer, the available options are:

  • Block: The motion buffer corresponding to the specified XBot will be blocked from sending next command in the buffer to the XBot

  • Unblock: The motion buffer will be unblocked and the XBot will resume executing commands in its motion buffer

  • Clear: The buffer of commands for the specified XBot will be cleared 

Fieldbus Interface

PMC_MotionBufferCtrl

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

Level

USINT

0: Block Buffer; 1: Release Buffer; 2: Clear Buffer

XbotID

USINT

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Ethernet Interface 

MotionBufferReturn MotionBufferControl(int xbotID, MOTIONBUFFEROPTIONS bufferOption)

Name

Type

Description

Name

Type

Description

xbotID

int

ID of the XBot.

bufferOption

enum

BLOCKBUFFER (0) = block buffer; RELEASEBUFFER (1) = release buffer; CLEARBUFFER (2) = clear buffer

Name

Type

Description

Name

Type

Description

MotionBufferReturn.PmcRtn

PMCRTN enum

MotionBufferReturn. MotionBufferStatus

struct

  • bool isBufferBlocked: true if buffer is blocked, false if buffer is not blocked

  • int bufferedMotionCount: number of motions stored in the specified XBot’s motion buffer

  • int firstBufferedMotionCmdLabel: command label of the first command in the specified XBot’s motion buffer

  • int lastBufferedMotionCmdLabel: command label of the last command in the specified XBot’s motion buffer

  • int xbotID: ID of the XBot that this return is describing

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

The XBot’s buffer will be blocked immediately. Since the buffer only contains future commands for the XBot, the current command executed by the XBot will finish executing as normal.

Description

This command manipulates the XBot Motion Buffer, the available options are:

  • Block: The motion buffer corresponding to the specified XBot will be blocked from sending next command in the buffer to the XBot

  • Unblock: The motion buffer will be unblocked and the XBot will resume executing commands in its motion buffer

  • Clear: The buffer of commands for the specified XBot will be cleared 

The maximum number of commands stored in the buffer is 1000, which can be upgraded to a higher number. Contact us if larger buffers are needed.

If a Stop Xbot command is received by PMC for a particular XBot, the XBot will be stopped and all buffer commands will be cleared.

If an XBot enters the Obstacle Detected state, its motion buffer will not be cleared. Once the obstacle is cleared, the XBot will resume completing the pending commands in its motion buffer.

If an XBot enters the Stopped state, typically due to it being unable to resume its previous motion, its motion buffer will be cleared. This usually occurs when an XBot enters an obstacle during Trajectory or Stream motions.

Each XBot motion command buffer status can be checked from the command label in XBot status, indicating which motion command the XBot is running.

 

 

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