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XPlanar Helper Functions

This documentation is to serve as a reference for the XPlanar Helper function blocks that are included with the XboxControllerUtilities PLC library. Please visit the Getting Started section for the installation of the PLC library.

Prerequisites

To use the XPlanar helper function blocks, the latest version of Tc3_XPlanarStandard needs to be installed.

CAUTION!

The blocks below use ExternalSetPoint commands under the hood, use at your own risk.

Mover Controls

The following blocks are to control an FB_XPlanarMoverStandard from the Tc3_XPlanarStandardLibrary.

FB_Xbox_2D_Joystick_XPlanar

The 2D Joystick block uses a single Xbox controller joystick to move an XPlanar mover in the X and Y direction. There is an optional E_Xbox_XPlanar_JogMode input to allow Fast or Slow jogging. The Fast jogging can also be commanded via button press (instantaneous) or trigger press (ramped).

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VAR
    // Xbox Controller Instance
    XboxController : FB_Xbox_Controller(NetID := '', iControllerNumber := 1);

    // FB_Xbox_2D_Joystick_XPlanar Instance
    fbXbox_2D_Joystick_XPlanar  : FB_Xbox_2D_Joystick_XPlanar;
    // Options for FB_Xbox_2D_Joystick_XPlanar
    stOptions                   : ST_Xbox_2D_Joystick_XPlanar_Options;
    // Jog mode for the Mover
    eJogMode                    : E_Xbox_XPlanar_JogMode;
    // Enable the jog feature
    bEnableJog                  : BOOL;

    // Mover Object
    XPlanarMover                : FB_XPlanarMoverStandard;
    // Command Mover to Enable
    bEnableMover                : BOOL := TRUE;
END_VAR

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//Update the mover
XPlanarMover.Cycle();
//Update the Xbox controller
XboxController.Cycle();

// Enable the mover
IF bEnableMover THEN
    XPlanarMover.Enable(slogMessage := 'Enabling Mover');
    IF XPlanarMover.P_Enable.Done THEN
        bEnableMover := FALSE;
    END_IF
END_IF

// Set some jog options
stOptions.eJog_Mode         := eJogMode;
stOptions.fFastJog_Trigger  := XboxController.P_Left_Trigger;
stOptions.bFastJog_Button   := XboxController.P_Buttons.bA_Button;

// Jog command for mover
fbXbox_2D_Joystick_XPlanar.Jog(
                                bEnable:= bEnableJog AND XboxController.P_Status.bConnected, 
                                stJoystick:= XboxController.P_Left_Joystick, 
                                xpMover:= XPlanarMover, 
                                stOptions:= stOptions);

Parameter Type Description
bEnable BOOL Enable the jog command
stJoystick REFERENCE TO ST_Xbox_Controller_Joystick Reference to Xbox controller joystick
xpMover REFERENCE TO FB_XPlanarMoverStandard Reference to XPlanar Standard Mover
stOptions ST_Xbox_2D_Joystick_XPlanar_Options Options for jogging the mover

DUTs

ST_Xbox_2D_Joystick_XPlanar_Options

Name Type Default Value Description
eJog_Mode E_Xbox_XPlanar_JogMode E_Xbox_XPlanar_JogMode.Slow Jog mode for the mover
fFeedrate LREAL 100.0 Feedrate of the mover for jogging
bFastJog_Button BOOL FALSE Button that is used for Fast Jogging
fFastJog_Trigger REAL 0.00 Trigger that is used for Fast Jogging

E_Xbox_XPlanar_JogMode

Name Value Description
Slow 0 Slow Mode Jog
FastWithButton 1 Fast Mode with button press
FastWithTrigger 2 Fast Mode with trigger press