MC_GrpEnable

PLCopen motion icon Pipe Network motion icon

Function Block - Changes the state of a group from GroupDisabled to GroupStandby.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge, request to enable the axis group.
AxesGroup	AXES_GROUP_REF	N/A	N/A	No default	The axis group to be enabled.

Output	Data Type	Range	Unit	Description
Done	BOOL	N/A	N/A	If TRUE, the command completed successfully.
Error	BOOL	N/A	N/A	If TRUE, an error has occurred.
ErrorID	INT	N/A	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Done

BOOL

N/A

If TRUE, the command completed successfully.

Error

BOOL

N/A

If TRUE, an error has occurred.

ErrorID

INT

N/A

Indicates the error if Error output is TRUE.

This function block starts a motion-related action and stores data for calculations and error checking.
If using a dual-core controller, see Call Function Blocks Multiple Times in the Same Cycle.

See Coordinated Motion, the top-level topic for Coordinated Motion.
The group must be in GroupStandby to perform motion.
- If the group is already in GroupStandby, then MC_GrpEnable does nothing.
MC_GrpEnable fails under these 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.
- See Group State Diagrams for more information.

Figure 1: MC_GrpEnable

            BEGIN_IL
            
     CAL Inst_MC_GrpEnable( EnableGroup, Group1_Ref )
END_IL

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