MC_GroupReadBlockerStatus

MC_GroupReadBlockerStatus 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_GroupReadBlockerStatus 2:

MC_GroupReadBlockerStatus 3:

MC_GroupReadBlockerStatus 4:

The function block MC_GroupReadBlockerStatus reads the current blocker status.

MC_GroupReadBlockerStatus 5: Inputs

VAR_INPUT
    Enable         : BOOL;
END_VAR

Name

Type

Description

Enable

BOOL

Enables reading of the current blocker status.

MC_GroupReadBlockerStatus 6: Inputs/outputs

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).

MC_GroupReadBlockerStatus 7: Outputs

VAR_OUTPUT
    Valid          : BOOL;
    Blocked        : BOOL;
    BlockerId      : UDINT;
END_VAR

Name

Type

Description

Valid

BOOL

Returns TRUE if a valid group type is used. Only group type MC Group Coordinated Motion is allowed.

Blocked

BOOL

Returns TRUE if a blocking job is active, i.e. execution of the path is stopped. Returns FALSE if no blocking job is active.

BlockerId

UDINT

Id of the blocker. Can be any UDINT >0.

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 (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2