Function BlockMC_GrpReadBoolParPLCopen motion iconPipe Network motion icon

Description

This function block reads a value from the specified Boolean group parameter. See Recovery of the System State After an Axis Error for more information.

MC_GrpReadBoolPar( Axesgroup_Ref GroupID, Uint BoolID) where BoolID can be one of the following 2 currently defined Booleans:

IGNORE_AXIS_ESTOP: ID = 1000 : The value read will be either TRUE or False as set by the MC_GrpWriteBoolPar function block.

AXIS_ESTOP_ACTIVE: ID = 1001 : This Read-only parameter will be asserted TRUE whenever an axis in the group is experiencing an Axis Estop Error. When there are no Axis Estop Errors present on the axes in a group, this parameter will be set to FALSE.

Figure 7-155: MC_GrpReadBoolPar

Related Function Blocks

MC_GrpWriteBoolPar,MC_ErrorDescription

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

Arguments

For more details on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules.

Input

Enable Description If True, then request to read a value from the specified Boolean group parameter.
  Data Type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroupRef Description The axis group that the Boolean parameter value will be read from.
  Data Type AXES_GROUP_REF
  Range N/A
  Unit N/A
  Default
ParamNum Description

ParamNum can be one of the following two currently defined Booleans:

  • IGNORE_AXIS_ESTOP: ID = 1000 : The value read will be either TRUE or False as set by the MC_GrpWriteBoolPar function block.
  • AXIS_ESTOP_ACTIVE: ID = 1001 : This Read-only parameter will be asserted TRUE whenever an axis in the group is experiencing an Axis Estop Error. When there are no Axis Estop Errors present on the axes in a group, this parameter will be set to FALSE.
  Data Type UINT
  Range 1000, 1001
  Unit UINT
  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
ParamValue Description True or False
  Data Type BOOL

Example

ST

Inst_GrpReadBoolPar( DoEnable, Group1_Ref, AXIS_ESTOP_ACTIVE );

IL

            BEGIN_ILClosed"Instruction list"
This is a low-level language and resembles assembly  
Cal Inst_GrpReadBoolPar( DoEnable, Group1_Ref, AXIS_ESTOP_ACTIVE )
END_IL

FBD

FFLD

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