MC_GroupReset
FUNCTION_BLOCK MC_GroupReset
This function blocks allows to reset all pending errors on robot side.Further actions might be executed by the MC_GroupReset function blockTelegrams transmitted between PLC and robot controller may end in a deadlock (e.g. one device is restarted during data exchange).In this situation, the function block resets the communication protocol. After this, new telegrams can be exchanged.
 | For CS8C controller ONLY If the state of one dual channel contact in the CS8C E-Stop chain is not consistent, a hardware fault is registered and robot operation is not possible |
Syntax
Definition:
FUNCTION_BLOCK MC_GroupReset
VAR_INPUT
Execute : BOOL := FALSE;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Execute | BOOL | Rising edge triggers function execution |
Outputs
Name | Type | Description |
|---|---|---|
Busy | BOOL | Set when function block is executing. Reset when Done or Error is set |
Done | BOOL | This output is set when function block has terminated with success |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |