MC_ReleaseBlocker

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 resolves a blocking job that blocks further execution of the path. A blocking job is inserted into the path with MC_BlockerPreparation.

With the Superpos blending strategy or, from TF5400 3.1.10.63, also with the GeoBlending strategy, the blocker can be resolved before the blocker position is reached. Loops between motion segments surrounding this blocker can be executed if those segments allow it and are still executable at the time the blocking job is released.

VAR_INPUT

VAR_INPUT
    Execute        : BOOL;
    BlockerId      : UDINT;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
BlockerId	UDINT	Id of the blocker. Can be any UDINT >0.

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
    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 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

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