MC_GrpEnable
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.
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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.
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- This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.
Related Functions
MC_GrpDisable, MC_ErrorDescription
Coordinated Motion, the top-level topic for Coordinated Motion.
Arguments
Input
Execute | Description | On the rising edgeA 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_IL"Instruction list" This is a low-level language and resembles assembly
CAL Inst_MC_GrpEnable( EnableGroup, Group1_Ref )
END_IL
FBD
FFLD