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.

Outputs

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.

Remarks

  • 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

FBD Language Example

FFLD Language Example

IL Language Example

            BEGIN_IL
            
CAL Inst_MC_GrpEnable( EnableGroup, Group1_Ref )
END_IL

ST Language Example

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

See Also