Resume XBot

This command can be used to resume the motion of an XBot previously stopped using the Pause XBots command.

Fieldbus Interface

PMC_ResumeXbots

Name	Data Type	Description

Name

Data Type

Description

Execute

BOOL

XbotID

USINT

PM_Controller

PMControllerType

Name	Data Type	Description

PMCRTN MotionInterruptCommand(int xbotID, MOTIONINTERRUPTOPTIONS motionInterruptOption)

Name	Type	Description

Name

Type

Description

xbotID

int

motionInterruptOption

enum

RESUME = 0, PAUSE = 1

Name	Type	Description

Name

Type

Description

PMCRTN

PMCRTN enum

Operating Conditions

Operating Conditions
Preconditions	XBot State is Idle due to having been stopped by a Pause XBots command.
Postconditions	XBot will resume its motion by executing the commands in its motion buffer, including the one that was paused.

This command can be used to resume the motion of an XBot previously stopped using the Pause XBots command.

On resuming Trajectory motion, it will interpolate position points until the trajectory can be followed precisely again