Function BlockMC_GrpEnablePLCopen motion iconPipe Network motion icon

Description

MC_GrpEnable changes the state of a group from GroupDisabled to GroupStandby. If the group is already in GroupStandby, then MC_GrpEnable will do nothing.


  • The group must be in GroupStandby in order to perform motion.

MC_GrpEnable will fail under the following conditions.

  • It contains no axes
  • The group is not in GroupDisabled or GroupStandby
  • One or more axes in the group are in another group that is not in GroupDisabled.

Refer to Group State Diagrams for more details.

Figure 7-154: MC_GrpEnable

Related Functions

MC_GrpDisable, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

Input

Execute Description On the rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to enable the axis group
  Data Type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroup Description The axis group to be enabled
  Data Type AXIS_GROUP_REF
  Range N/A
  Unit N/A
  Default

Output

Done Description

If True, then the command completed successfully.

  Data Type BOOL
Error Description

If True, an error has occurred.

  Data Type BOOL
ErrorID Description Indicates the error if Error output is set to TRUE. See the table in PLCopen Function Block ErrorID Output
  Data Type INT

Example

Structured Text

(* Inst_MC_GrpEnableST example *)
Inst_MC_GrpEnable( EnableGroup, Group1_Ref );

IL

            BEGIN_ILClosed"Instruction list"
This is a low-level language and resembles assembly
            
CAL Inst_MC_GrpEnable( EnableGroup, Group1_Ref )
END_IL

FBD

FFLD

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