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.

• 
  

• 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 7-161: MC_GrpEnable

• 
  
• 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 edge A 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

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