MC_GroupEnable
TF5410 | TF5420 | |
|---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
|
|
|
This function block enables the group. If it is successful and all axes are ready, the group is then in the GroupStandby state (see State diagrams).
 | An MC group can only be enabled once all axes have been added to the group. |
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 |