MC_GroupReadStatus

MC_GroupReadStatus 1:

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

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_GroupReadStatus 2:

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

MC_GroupReadStatus 5:

MC_GroupReadStatus 6: VAR_INPUT

VAR_INPUT
    Enable      : BOOL;
END_VAR

Name

Type

Description

Enable

BOOL

The command is executed as long as Enable is active.

MC_GroupReadStatus 7: MC_GroupReadStatus 8: 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).

MC_GroupReadStatus 9: 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 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