MC_GroupEnable

MC_GroupEnable 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_GroupEnable 2:

MC_GroupEnable 3:
(MC_GroupEnable 4: up to and including v3.2)

MC_GroupEnable 5:

The function block MC_GroupEnable enables the group. If it succeeds and all axes are ready, the group is then in group state GroupStandby (see State diagrams).

MC_GroupEnable 6:

An MC Group can only be enabled, if all axes were added to the group before.

MC_GroupEnable 7: Inputs

VAR_INPUT
    Execute    : BOOL;
END_VAR

Name

Type

Description

Execute

BOOL

The command is triggered by a rising edge at this input.

MC_GroupEnable 8: Inputs/outputs

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)

MC_GroupEnable 9: Outputs

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 V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2