MC_GrpReadBoolPar

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 Function Block - Reads a value from the specified Boolean group parameter.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

If TRUE, then request to read a value from the specified Boolean group parameter.

AxesGroupRef

AXES_GROUP_REF

N/A

N/A

No default

The axis group the Boolean parameter value is read from.

ParamNum

UINT

1000, 1001

UINT

No default

ParamNum can be one of these two defined Booleans:

  • IGNORE_AXIS_ESTOP:
    • ID = 1000
    • The value read is either TRUE or False as set by the MC_GrpWriteBoolPar function block.
  • AXIS_ESTOP_ACTIVE:
    • ID = 1001
    • This Read-only parameter is asserted TRUE whenever an axis in the group is experiencing an Axis Estop Error.
    • When there are no Axis Estop Errors present on the axes in a group, this parameter will be set to FALSE.

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

If TRUE, the command completed successfully.

Error

BOOL

FALSE, TRUE

N/A

If TRUE, an error has occurred.

ErrorID

INT

No range

N/A

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

ParamValue

BOOL

FALSE, TRUE

N/A

TRUE or FALSE.

Remarks

  • See Coordinated Motion, the top-level topic for Coordinated Motion.
  • See Function Blocks - General Rules about how inputs and outputs work.
  • See Recovery of the System State After an Axis Error.
  • MC_GrpReadBoolPar(Axesgroup_Ref GroupID, Uint BoolID) where BoolID can be one of these two currently defined Booleans:
    • IGNORE_AXIS_ESTOP:
      • ID = 1000
      • The value read is either TRUE or False as set by the MC_GrpWriteBoolPar function block.
    • AXIS_ESTOP_ACTIVE:
      • ID = 1001
      • This read-only parameter is asserted TRUE whenever an axis in the group is experiencing an Axis Estop Error.
      • When there are no Axis Estop Errors present on the axes in a group, this parameter is set to FALSE.

Figure 1: MC_GrpReadBoolPar

FBD Language Example

FFLD Language Example

IL Language Example

BEGIN_IL
Cal Inst_GrpReadBoolPar( DoEnable, Group1_Ref, AXIS_ESTOP_ACTIVE )
END_IL

ST Language Example

Inst_GrpReadBoolPar( DoEnable, Group1_Ref, AXIS_ESTOP_ACTIVE );

See Also