Interfaces

I_PlanarTaskResult

Definition of the XPlanar Task (Command) Feedback Class

Property	Type	Access	Description
Aborted	BOOL	R	Command was aborted by the Xplanar System
BlockingObjectInfo	REFERENCE TO PlanarObjectInfo	R	Object information returned if command was blocked by another planar object
Busy	BOOL	R	Command is active
Done	BOOL	R	Command was complented
Error	BOOL	R	Command returned an error
ErrorID	UDINT	R	Identification value of the error returned by the command

Defines required functionality for an XPlanar mover.

Property	Type	Access	Description
ActualPosition	MoverVector	R	Current mover position.
CommandLog	REFERENCE TO ARRAY	R	Log of commands recently sent to the mover.
Destination	I_XPlanarStation	RW	Interface pointer for the next station the mover is going to.
Error	BOOL	R	Error signal from Move Commands
ErrorID	UDINT	R	Error ID returned from Command Feedback
Gap	LREAL	RW	Collision Avoidance Gap value used for On Track movements.
IdentifiedBTN	STRING	RO	Reported BTN from ID Bumper
InStation	BOOL	RW	Signal indicating mover is in a station queue
MoveCommand	I_MoveCommands	RO	Interface pointer to Mover Commands
Dynamics	I_MoveDynamics	RW	Interface to Velocity, Accel, Decel, Jerk dynamics containers used by move commands
MoverBTN	STRING(13)	R	BTN that is assigned by the driver
MoverIndex	UDINT	RW	Index number of the mover
MoverType	MoverType	RO	Identified Mover Type from TcCOM Object
pm	REFERENCE TO MC_PLanarMover_	R	Reference to base planar motion functions
RotateDynamics	ST_MoveDynamics	RW	Sturcture of dynamic vars. Velocity, Accel, Decel, Jerk used by Rotation commands
Status	REFERENCE TO CDT_MCTOPLC_PLANAR_MOVER_STD_	R	Reference to current operating status structure of the mover
Utility	I_TcIoXPlanarMover	RO	Interface to Mover TcIo Driver functions

Method	Return Type	Description
AddToGroup	I_PlanarTaskResult	Adds mover to the XPlanar Group
Disable	I_PlanarTaskResult	Disables the mover
Enable	I_PlanarTaskResult	Enables the mover
Halt	I_PlanarTaskResult	Halts the mover
Reset	I_PlanarTaskResult	Resets the mover

Built in Mover functions that can be easily called from the application.

Method	Return Type	Description
FreeMove	I_PlanarTaskResult	Command the mover to an XY position on the table.
JoinTrack	I_PlanarTaskResult	Join the mover to a specified Track Segment
LeaveTrack	I_PlanarTaskResult	Command mover to un-join its current track segment and move to a specified xy position
Rotate	I_PlanarTaskResult	Rotate the mover a specified modulo C position and number of additional turns.
SendToStation	I_PlanarTaskResult	Send the mover to a desired Station
SquareUp	I_PlanarTaskResult	Rotate the mover to its nearest quarter angle and Zero the A and B Axis
TiltA	I_PlanarTaskResult	Tilt the mover on the A Axis
TiltB	I_PlanarTaskResult	Tilt the mover on the B Axis
TrackMove	I_PlanarTaskResult	Command the mover to a specified linear position on a track segment.
TrackMoveXY	I_PlanarTaskResult	Command the mover to a specified XY position on a track segment.
VerticalMove	I_PlanarTaskResult	Raise or lower the mover on the Z Axis

Interface to Mover Dynamic Constraints

Property	Type	Access	Description
Movement	REFERENCE TO ST_MoveDynamics	RW	Sturcture of dynamic vars. Velocity, Accel, Decel, Jerk used by XYZ based move commands
Rotation	REFERENCE TO ST_MoveDynamics	RW	Sturcture of dynamic vars. Velocity, Accel, Decel, Jerk used by C Axis based rotate commands
Tilt	REFERENCE TO ST_MoveDynamics	RW	Sturcture of dynamic vars. Velocity, Accel, Decel, Jerk used by AB Axis based tilt commands

Defines a specified area of a track where a mover is going to be processed.

Property	Type	Access	Description
AllowQueing	BOOL	W	Set to FALSE the sending station will not release mover until this station is clear
CanReleaseMover	BOOL	W	Set to FALSE if 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.
Positon	REFERENCE TO PositionXYC	R	Reference to the postition of the station on the XPlanar table
Size	REFERENCE TO Position2D_LREAL_	RW	Configured station size in X and Y
StationComplete	BOOL	W	Bit for an external process to tell the station that processing is complete and release 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 function the station is being setup to do.
TrackID	I_XPlanarTrack	RW	Interface pointer to the track segment the station resides on. (do not set if not using tracks)

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

Defines functionality of a specified track segment

Property	Type	Access	Description
Definition	REFERENCE TO ST_TrackDefinition	R	Structure containing segment build definitions
Error	BOOL	R	Bit indicating an error occurred during the build process
ErrorID	UDINT	R	Identification number of error that occurred on the Track object
Index	UDINT	RW	Index number of the segment
MoverCount	UDINT	R	Number of movers currently on segment
MovingMoverCount	UDINT	R	Number of movers currently on segment and movers actively planned for movement on this segment
pm	REFERENCE TO MC_PlanarTrack	R	Reference to base planar motion functions
Status	REFERENCE TO CDT_MCTOPLC_PLANAR_TRACK	R	Current operating status structure of Track
TrackLength	UDINT	R	Linear length of track segment in mm
Utility	I_McPlanarTrack	RO	Interface to Track segment TcIo Driver functions

Method	Return Type	Description
AddToGroup	I_PlanarTaskResult	Add the track segment to the XPlanar Group
AppendLine	I_PlanarTaskResult	Append a line item to the track segment
AppendPoint	I_PlanarTaskResult	Append a point item to the track segment
Build	I_PlanarTaskResult	Build the track segment according to Definition configuration
Clear	I_PlanarTaskResult	Clears all defined points from the track segment
CloseLoop	I_PlanarTaskResult	Closes loop to the first defined track point
Reset	BOOL	Reset the internal state machine of the station
Disable	I_PlanarTaskResult	Disables the track segment
Enable	I_PlanarTaskResult	Enables the track segment
GetTrackPositionAt	LREAL	Calculates closest linear track point for a given XY coordinate
Reset	I_PlanarTaskResult	Resets the track segment

Defines functionality of the XPlanar Part Object

Property	Type	Access	Description
ObjectID	OTCID	R	Object ID of the XPlanar Part MC3 Object
pm	REFERENCE TO MC_PlanarPart	R	Reference to base planar motion functions
State	REFERENCE TO MC_PlanarState	R	Current State of the XPlanar Part

Method	Return Type	Description
ForceDisable	I_PlanarTaskResult	Disables Xplanar part
SetAllowEnable	I_PlanarTaskResult	Allows the XPlanar Part to be enabled by the Xplanar TcCom
Reset	I_PlanarTaskResult	Resets the XPlanar Part

Defines functionality of the XPlanar Tile Object

Property	Type	Access	Description
Btn	STRING(13)	R	Btn number of the tile.
DcLinkOk	BOOL	R	Tile power is OK.
Index	UINT	R	Index of tile in array.
PartIndex	UINT	Index of XPlanar Part Tile is configured in.
PositionOnPart	REFERENCE TO ST_TcIoTilePositionOnPart	R	Position of tile origin point in the XPlanar Part configuration
Temperatures	REFERENTE TO ST_TileTemperatures	R	Last read temperature of center and each tile quadrant (North, South, East, West)
TimeToShutdown	UDINT	R	Last read time in milliseconds to tile shutdown based on temperature
Utility	I_TcIoXPlanarTile	Interface to Tile TcIo Driver functions