Wait Until Displacement

Monitor the specified XBot's displacement. When the monitoring condition is met, the wait until command will finish.

Fieldbus Interface

PMC_WaitUntilDisp

Name	Data Type	Description

Name	Data Type	Description
Execute	BOOL
cmdLB	UINT
XbotID	USINT
TriggerXID	USINT	ID of the XBot that will be monitored/used to trigger release of the wait.
dispMode	USINT	How to define boundary location. 0: using X only 1: using Y only 2: a straight line of arbitrary orientation
dispType	UINT	When to trigger wait release. 0: Greater than boundary value 1: Less than boundary value 2: rising above boundary value 3: falling below boundary value
Threshold	REAL	Used to Specify boundary location. dispMode = 0: X = threshold dispMode = 1: Y = threshold dispMode = 2: AX + BY = threshold
posXFactor	REAL	In dispMode = 2, the A value of AX + BY = threshold
posYFactor	REAL	In dispMode = 2, the B value of AX + BY = threshold
PM_Controller	PMControllerType

Name	Data Type	Description

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

Ethernet Interface

PMCRTN WaitUntil(ushort cmdLabel, int xbotID, TRIGGERSOURCE triggerSource, WaitUntilTriggerParams triggerParameters)

Name	Type	Description

Name	Type	Description
cmdLabel	ushort
xbotID	int
triggerSource	enum	DISPLACEMENT (4): use displacement/position as trigger source
triggerParameters	struct	When triggerSource is set as DISPLACEMENT, the following parameters are required: triggerxbotID: ID of XBot to monitor displacementTriggerMode: enum with X_ONLY (0), Y_ONLY (1), or AX_BY (2) = AX + BY options displacementTriggerType: enum with GREATER_THAN (0), LESS_THAN (1), POSITIVE_CROSS (2) = rising above threshold, NEGATIVE_CROSS(3) = falling below threshold displacementThresholdMeters: threshold to compare the monitored value to, meters lineParamAx: the A in AX+BY displacementTriggerMode lineParamBy: the B in AX+BY displacementTriggerMode

Name	Type	Description

Name

Type

Description

PMCRTN

PMCRTN enum

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 XBot has reached a certain position

Consider the following trajectory:

XBot 2 must wait for XBot 1 to complete its motion before XBot 2 can move to its target destination.

XBot 2 can execute a Wait Until command using a Displacement Trigger before executing its motion command: XBot 2’s Wait Until command will monitor XBot 1’s position. Once XBot 1’s position reaches a certain threshold, the Wait Until command is completed, allowing XBot 2 to execute its motion command at the earliest possible time.

Planar Motor Technical Portal

Wait Until Displacement

Fieldbus Interface

Ethernet Interface

Conditions

Description

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