MC_GroupReadBlockerStatus
TF5410 | TF5420 | |
---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
This function block reads the current blocker status.
VAR_INPUT
VAR_INPUT
Enable : BOOL;
END_VAR
Name | Type | Description |
---|---|---|
Enable | BOOL | Activates reading of the current blocker status. |
VAR_IN_OUT
VAR_IN_OUT
AxesGroup : AXES_GROUP_REF;
END_VAR
Name | Type | Description |
---|---|---|
AxesGroup | AXES_GROUP_REF | Reference to an axis group (see Cyclic Group Interface). |
VAR_OUTPUT
VAR_OUTPUT
Valid : BOOL;
Blocked : BOOL;
BlockerId : UDINT;
END_VAR
Name | Type | Description |
---|---|---|
Valid | BOOL | Returns |
Blocked | BOOL | Returns |
BlockerId | UDINT | Id of the blocker. Can be any UDINT >0. |
Requirements
Development environment | Target platform | PLC libraries to include |
---|---|---|
TwinCAT V3.1.4024.7 TF5400 Advanced Motion Pack V3.1.10.1 | PC or CX (x86 or x64) | Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2 |