MC_GroupReadStatus

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion

This function block reads the state of an axis group (see State diagrams).

VAR_INPUT

VAR_INPUT
    Enable      : BOOL;
END_VAR

Name	Type	Description
Enable	BOOL	The command is executed as long as Enable is active.

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
    Valid                 : BOOL;
    Busy                  : BOOL;
    GroupMoving           : BOOL;
    GroupHoming           : BOOL;
    GroupErrorStop        : BOOL;
    GroupNotReady         : BOOL;
    GroupStandby          : BOOL;
    GroupStopping         : BOOL;
    GroupDisabled         : BOOL;
    AllAxesStanding       : BOOL;
    ConstantVelocity      : BOOL; // hidden
    Accelerating          : BOOL; // hidden
    Decelerating          : BOOL; // hidden
    InPosition            : BOOL;
    Error                 : BOOL;
    ErrorId               : UDINT;
END_VAR

Name	Type	Description
Valid	BOOL	This output indicates that other output values are valid for this function block.
Busy	BOOL	This output becomes TRUE when the command is started with Enable and remains so as long as the function block executes the command.
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).
GroupMoving	BOOL	The group is in the GroupMoving state (see State diagrams).
GroupHoming	BOOL	The group is in the GroupHoming state (see State diagrams).
GroupErrorStop	BOOL	The group is in the GroupErrorStop state (see State diagrams).
GroupNotReady	BOOL	The group is in the GroupNotReady state (see State diagrams).
GroupStandby	BOOL	The group is in the GroupStandby state (see State diagrams).
GroupStopping	BOOL	The group is in the GroupStopping state (see State diagrams).
GroupDisabled	BOOL	The group is in the GroupDisabled state (see State diagrams).
AllAxesStanding	BOOL	None of the axes in the group move physically (velocity = 0 and acceleration = 0), regardless of whether a Motion Command exists or not.
ConstantVelocity	BOOL	Not supported. Not visible as of TF5400 3.2.27.
Accelerating	BOOL	Not supported. Not visible as of TF5400 3.2.27.
Decelerating	BOOL	Not supported. Not visible as of TF5400 3.2.27.
InPosition	BOOL	Not supported.

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

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