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Read XBot Speed

Read XBot Speed

Owned by Comala Publishing
Jan 09, 2025
1 min read

Read the current speed of a particular XBot.

Fieldbus Interface 

PMC_ReadXbotSpeed

Name

Data Type

Description

Name

Data Type

Description

Enable

BOOL

FeedbackType

USINT

ID

USINT

  • If using normal feedback, then the stream ID

  • If using extended feedback, then the XBot ID

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Valid

BOOL

SpeedX

REAL

Speed in the X axis in m/s

SpeedY

REAL

Speed in the Y axis in m/s

SpeedRz

REAL

Speed in the RZ axis in rad/s

Conditions

Operating Conditions

Operating Conditions

Preconditions

None

Postconditions

XBot speed information is provided in the output.

Description

This function block allows the user to read the current XBot speed.

The cyclic feedback position updates must have started at least 2 cycles before this function block is called.

This function block relies on setting up cyclic feedback streams using Configure Feedback Stream or Configure Feedback Stream Extended. 

 

 

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