MC_GroupReadStatus
This function block reads the state of an axis group (see State diagrams).
TF5410 | TF5420 | |
---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
|
VAR_INPUT
VAR_INPUT
Enable : BOOL;
END_VAR
Name | Type | Description |
---|---|---|
Enable | BOOL | The command is executed as long as Enable is active. |
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). |
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. |
Accelerating | BOOL | Not supported. |
Decelerating | BOOL | Not supported. |
InPosition | BOOL | Not supported. |
Requirements
Development environment | Target platform | PLC libraries |
---|---|---|
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |