MC_ReleaseBlocker
TF5410 | TF5420 | |
---|---|---|
| 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. Blending 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 |
Busy | BOOL | This output becomes |
Error | BOOL | This output becomes |
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 (x64) | Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2 |