MC_GrpWriteBoolPar

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 Function Block - Writes a value to the specified Boolean group parameter.

Inputs

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

FALSE, TRUE

N/A

No default

On the rising edge, request to write a value to the specified Boolean group parameter.

AxesGroupRef

AXES_GROUP_REF

No range

N/A

No default

The axis group the Boolean parameter value is written to.

ParamNum

UINT

No range

N/A

No default

The ID number of the Boolean parameter that is to be written.

  • IGNORE_AXIS_ESTOP
    • BoolID = 1000

ParamValue

BOOL

FALSE, TRUE

N/A

No default

FALSE, TRUE

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

If TRUE, the command completed successfully.

Busy

BOOL

FALSE, TRUE

N/A

If TRUE, the function block is executing.

Error

BOOL

FALSE, TRUE

N/A

If TRUE, an error has occurred.

ErrorID

INT

-32768 to +32767

 

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

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.
  • IGNORE_AXIS_ESTOP
    • BoolID = 1000.
    • Value can be either TRUE or FALSE.
  • Setting this Boolean Parameter to TRUE results in the Coordinated Motion Engine NOT stopping all axes in a group when one of them is stopped due to an Axis Estop Error.
    • Only the axis experiencing the error stops when this Parameter is set to TRUE.
  • When this parameter is FALSE (Default), all axes in a group are stopped and the power off request is asserted for each axis.

Figure 1: MC_GrpWriteBoolPar

FBD Language Example

FFLD Language Example

IL Language Example

            BEGIN_IL    
Cal Inst_MC_GrpWriteBoolPar( ExecuteWrite, Group1Ref, IGNORE_AXIS_ESTOP, true )
END_IL

ST Language Example

Inst_MC_GrpWriteBoolPar( ExecuteWrite, Group1Ref, IGNORE_AXIS_ESTOP, true );

See Also