MC_GrpReadStatus

PLCopen motion icon Pipe Network motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Returns the status of an axes group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	BOOL	FALSE, TRUE	N/A	No default	If TRUE, the axes group status is read.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group the status is read from.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	TRUE of valid outputs are available.
GroupMoving¹	BOOL	FALSE, TRUE	N/A	The axes group is in the Moving state. This indicates the group is enabled and currently executing a coordinated motion command.
GroupHoming¹	BOOL	FALSE, TRUE	N/A	Not supported.
GroupErrorStop¹	BOOL	FALSE, TRUE	N/A	The axes group is in the ErrorStop state due to an axis error or group error. The group cannot accept coordinated motion commands. The execution of MC_GrpReset is required to change the group’s state from ErrorStop to Standby.
GroupStandby¹	BOOL	FALSE, TRUE	N/A	The axes group is in the Standby state. The group: Is enabled and all its axes are enabled. Is not currently executing a coordinated motion command. The axes group is ready to accept coordinated motion commands.
GroupStopping¹	BOOL	FALSE, TRUE	N/A	The axes group is in the Stopping state due the execution of MC_GrpStop. The axes group is enabled but cannot accept coordinated motion commands while in the Stopping state. The axes group: Remains in the Stopping state while MC_GrpStop is executing. Will remain in the Stopping state while MC_GrpStop’s Execute input is held high.
GroupDisabled¹	BOOL	FALSE, TRUE	N/A	The axis group is in the Disabled Removal of the ENABLE signal. Disables power stage. state and cannot accept coordinated motion commands.
ConstantVelocity	BOOL	FALSE, TRUE	N/A	TRUE if the commanded path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP is the same between the current scan of the application program The act of performing a sequence of instructions or commands. and the previous scan. ConstantVelocity is always TRUE for Direct The orientation components of a vector in space. moves. The commanded path velocity of Direct moves is always 0 (zero).
Accelerating A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	BOOL	FALSE, TRUE	N/A	TRUE if the commanded path velocity is accelerating between the current scan of the application program and the previous scan.
Decelerating	BOOL	FALSE, TRUE	N/A	TRUE if the commanded path velocity is decelerating between the current scan of the application program and the previous scan.
InPosition	BOOL	FALSE, TRUE	N/A	TRUE indicates that the axes group is “in position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different.”. These must be TRUE for the axes group to be in position: The axes group is enabled. There are no moves in the group’s queue. The servo loop is closed for each axis in the group. There are no moves in the individual axis queue for each axis in the group. The command delta is zero for each axis in the group. The actual position is within the In-Position Bandwidth In computer networking, bandwidth refers to a data rate measured in bits per second (e.g., network throughput). The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz. In a servos system, the frequency at which the small signal response begins to drop off. Stage performance is enhanced by increasing the servo bandwidth. Structural resonances typically limit the achievable bandwidth. of the command position for each axis in the group.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	BOOL	FALSE, TRUE	N/A	Indicates the error identifier if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.

¹ These outputs are mutually exclusive. Only one is TRUE at a time.
All others are FALSE.
See Group State Diagrams.

Remarks

This function or function block returns cached data.
See Program a Multi-Core Controller.

See Coordinated Motion, the top-level topic for Coordinated Motion.
MC_GrpReadStatus returns the status of an axes group.
- This function block does not cause any motion.
See Group State Diagrams.

Figure 1: MC_GrpReadStatus

FBD Language Example

FFLD Language Example

IL Language Example

BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
CAL Inst_MC_GrpReadStatus( EnableGrpReadStatus, Group1_Ref )
END_IL

ST Language Example

//Check boolean status bits for an Axis Group
Inst_MC_GrpReadStatus( EnableGrpReadStatus, Group1_Ref );

IsGroupMoving:= Inst_MC_GrpReadStatus.GroupMoving;
IsGroupErrorStop:= Inst_MC_GrpReadStatus.GroupErrorStop;
IsGroupStandby:= Inst_MC_GrpReadStatus.GroupStandby;
IsGroupDisabled:= Inst_MC_GrpReadStatus.GroupDisabled;
Accelerating:= Inst_MC_GrpReadStatus.Accelerating;
IsConstantVelocity:= Inst_MC_GrpReadStatus.ConstantVelocity;
IsInPosition:= Inst_MC_GrpReadStatus.InPosition;