MC_BlockerPreparation

This function block appends a blocking job to the list of segments in the PathData structure. The PathData table can be executed via MC_MovePath. The function block MC_BlockerPreparation can be called several times per cycle. A maximum of 30 entries are allowed per PathData table.

A blocking job is an entry that suspends execution of the path until it is resolved with MC_ReleaseBlocker. As long as the blocker is not resolved, the execution of the path is stopped at this segment. Each blocker has an Id so that the individual blockers can be distinguished in the PLC.

When a blocking job is active, the group status is still "moving".
If the override is changed while the blocking job is active, it will take effect for the next moving job.
If a new job with BufferMode mcAborting is executed while the blocking job is active, the blocking job is aborted.
If MC_GroupHalt or MC_GroupStop are executed while the blocking job is active, the path is terminated and the blocking job is automatically released.

VAR_INPUT

VAR_INPUT
    BlockerId      : UDINT;
    BufferMode     : MC_BUFFER_MODE  := mcBuffered;
    InvokeId       : UDINT;
END_VAR

VAR_IN_OUT

VAR_IN_OUT
    PathData       : MC_PATH_DATA_REF;
END_VAR

VAR_OUTPUT

VAR_OUTPUT
    Error          : BOOL;
    ErrorId        : UDINT;
END_VAR