Interfaces
I_XPlanarMover
Defines required functionality for an XPlanar mover.
Properties
| Property | Type | Access | Description |
|---|---|---|---|
| Destination | I_XPlanarStation | RW | Interface pointer for the next station the mover is going to. |
| Error | BOOL | RO | Error signal from Move Commands |
| ErrorID | UDINT | RO | Error ID returned from Command Feedback |
| ErrorInfo | STRING | RO | Error description returned from Command Feedback |
| IdentifiedBTN | STRING | RO | Reported BTN from ID Bumper |
| InStation | BOOL | RW | Signal indicating mover is in a station queue |
| MoverDynamics | ST_MoveDynamics | RW | Sturcture for move dynamic vars. Velocity, Accel, Decel, Jerk, CA Gap, etc. |
| MoverBTN | STRING(13) | R | BTN that is assigned to the mover |
| MoverIndex | UDINT | RW | Index number of the mover |
| MoverTcIo | I_TcIoXPlanarMover | RO | Interface to Mover TcIo Driver functions |
| MoverType | MoverType | RO | Identified Mover Type from TcCOM Object |
| TrackID | UDINT | RW | Index number of the track segment the mover is currently on |
| std | I_XPlanarMoverStandard | R | Interface to the base library mover functions |
Move Commands
Built in Mover functions that can be easily called from the application.
| Method | Return Type | Description |
|---|---|---|
| ClearCmd | BOOL | Used to externally reset the internal command state machine |
| Disable | BOOL | Disables the mover |
| Enable | BOOL | Enables the mover |
| FreeMove | BOOL | Command the mover to an XY position on the table |
| Index | BOOL | Command the mover to rotate a fraction of a turn (Use negative number to change rotation direction) |
| JoinTrack | BOOL | Join the mover to a specified Track Segment |
| LeaveTrack | BOOL | Command mover to un-join its current track segment and move to a specified xy position |
| SendToStation | BOOL | Send the mover to a desired Station |
| Spin | BOOL | Rotate the mover a specified number of turns (Use negative number to change rotation direction |
| SquareUp | BOOL | Rotate the mover to its nearest quarter angle |
| Tilt | BOOL | Tilt the mover on the A and B Axis |
| VerticalMove | BOOL | Raise or lower the mover on the Z Axis |
I_XPlanarStation
Defines a specified area of a track where a mover is going to be processed.
Properties
| Property | Type | Access | Description |
|---|---|---|---|
| CanReleaseMover | BOOL | W | Immediate area around the station is blocked, do not release mover |
| CurrentMover | I_XPlanarMover | R | Interface pointer to the lead mover in the stations mover queue |
| HasMover | BOOL | BOOL | A Mover is currently in the defined station area |
| ID | UDINT | RW | Index number of the station |
| MoverQueue | Reference To FB_MoverQueue_ | R | Reference to the movers currently queued up in the station |
| NextStation | I_XPlanarStation | RW | Interface pointer to the next station to send the mover to |
| NumMoversRequired | UDINT | RW | Number of movers required by the station before station is ready to process. Only required with Multi-Mover station type |
| Positon | REFERENCE TO PositionXYC | R | Reference to the postition of the station on the XPlanar table |
| StationComplete | BOOL | W | Bit for an external process to tell the station that processing is complete and send the mover to the next station |
| StationReady | BOOL | R | Mover(s) are registered in the station and ready to command |
| StationType | E_StationType(UDINT) | RW | Type of process the station is being setup to do (0 = Process, 1 = DecisionPoint, etc.) |
| ProcessInterface | I_Process | W | Interface pointer for a processing sequence that the mover will perform while in the station |
| AllowQueing | BOOL | W | Bit to tell the station to bypass checking if the next station is blocked and send the mover anyway (basically allow queuing or not) |
| Size | UDINT | RW | Configured station size in mm (default = 240) |
| TrackID | I_Track | RW | Interface pointer to the track segment the station resides on. (do not set if not using tracks) |
Methods
| Method | Return Type | Description |
|---|---|---|
| Execute | null | 'Automatic' function of the station. Watch for a mover to arrive, execute a process if assigned, and send the mover away |
| Reset | BOOL | Reset the internal state machine of the station |
I_XPlanarTrack
Defines functionality of a specified track segment
Properties
| Property | Type | Access | Description |
|---|---|---|---|
| Error | BOOL | R | Bit indicating an error occurred during the build process |
| ErrorInfo | STRING | R | Description of error that occurred during build process |
| ID | UDINT | RW | Index number of the segment |
| MoverCount | UDINT | R | Number of movers currently on segment |
| OpMode | MC_PLANAR_TRACK_OPERATION_MODE | R | Current operating mode of the track segment |
| std | I_TrackStandard | R | Interface to the base library track functions |
| TrackLength | UDINT | R | Linear length of track segment in mm |
| TrackTable | REFERENCE_TO FB_TrackTable | R | Reference to the track table for point configuration |