MC_GroupDisable
TF5410 | TF5420 | |
|---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
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This function block disables the group. After successful execution, the group changes its state to GroupDisabled (see State diagrams).
Notice | |
Disabling a group in motion results in an immediate stop. When axes stop suddenly, the permissible deceleration limits are likely to be exceeded. Depending on the drive hardware, this could lead to current peaks and runtime errors. |
VAR_INPUT
VAR_INPUT
Execute : BOOL;
END_VAR
Name | Type | Description |
|---|---|---|
Execute | BOOL | The command is triggered by a rising edge at this input. |
VAR_IN_OUT
VAR_IN_OUT
AxesGroup : AXES_GROUP_REF;
END_VAR
Name | Type | Description |
|---|---|---|
AxesGroup | AXES_GROUP_REF | Reference to a group of axes (see Cyclic group interface). |
VAR_OUTPUT
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VAR
Name | Type | Description |
|---|---|---|
Done | BOOL | This output becomes TRUE when the command was successfully executed. |
Busy | BOOL | This output becomes TRUE when the command is started with Execute and remains so as long as the function block executes the command. If Busy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs Done, CommandAborted (if available) or Error is set. |
Error | BOOL | This output becomes TRUE if an error has occurred during command execution. |
ErrorId | UDINT | Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn). |
Requirements
Development environment | Target system type | PLC libraries to be linked |
|---|---|---|
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x86 or x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |