MC_GrpReadStatus

Description

MC_GrpReadStatus returns the status of an axes group. This function block does not cause any motion. Refer to Group State Diagrams for details.

• 
  

• The following output is not currently supported. It will be supported in a future release.

  • GroupHoming

Figure 7-177: MC_GrpReadStatus

• 
  

• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Related Functions

MC_ErrorDescription

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

Arguments

Input

Enable	Description	If True, then the axes group status will be read.
	Data type	BOOL
	Range	0. 1
	Unit	N/A
	Default	—
AxesGroup	Description	The axis group from which the status will be read
	Data type	AXIS_GROUP_REF
	Range	N/A
	Unit	N/A
	Default	—

Output

Valid	Description	True if valid outputs are available
	Data type	BOOL
GroupMoving 1	Description	The axes group is in the Moving state, indicating that the group is enabled and currently executing a coordinated motion command.
	Data type	BOOL
GroupHoming 1	Description	Not supported
	Data type	BOOL
GroupErrorStop 1	Description	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.
	Data type	BOOL
GroupStandby 1	Description	The axes group is in the Standby state, meaning that the group is enabled and all its axes are enabled and the group is not currently executing a coordinated motion command. The axes group is ready to accept coordinated motion commands.
	Data type	BOOL
GroupStopping 1	Description	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 and will remain in the Stopping state while MC_GrpStop’s Execute input is held high.
	Data type	BOOL
GroupDisabled 1	Description	The axis group is in the Disabled state and cannot accept coordinated motion commands.
	Data type	BOOL
ConstantVelocity	Description	True if the commanded path velocity is the same between the current scan of the application program and the previous scan. ConstantVelocity is always TRUE for Direct moves. The commanded path velocity of Direct moves is always zero.
	Data type	BOOL
Accelerating	Description	True if the commanded path velocity is accelerating between the current scan of the application program and the previous scan.
	Data type	BOOL
Decelerating	Description	True if the commanded path velocity is decelerating between the current scan of the application program and the previous scan.
	Data type	BOOL
InPosition	Description	True indicates that the axes group is “in position”. The following 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 often refers to a data rate measured in bits/s, for example, 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 of the command position for each axis in the group.
	Data type	BOOL
Error	Description	If True, an error has occurred.
	Data type	BOOL
ErrorID	Description	Indicates the error identifier if the Error output is set to TRUE. See the table in PLCopen Function Block ErrorID Output.
	Data type	BOOL

¹ These outputs are mutually exclusive, meaning only one will be true at a time. All others will be false. Please refer to the Group State Diagrams.

Example

Structured Text

//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;

IL

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

FBD

FFLD

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