MC_GrpReadStatus

PLCopen motion icon Pipe Network motion icon

Function Block - Returns the status of an axes group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable	BOOL	FALSE, TRUE	N/A	No default	If TRUE, the axes group status is read.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group the status is read from.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	TRUE of valid outputs are available.
GroupMoving¹	BOOL	FALSE, TRUE	N/A	The axes group is in the Moving state. This indicates the group is enabled and currently executing a coordinated motion command.
GroupHoming¹	BOOL	FALSE, TRUE	N/A	Not supported.
GroupErrorStop¹	BOOL	FALSE, TRUE	N/A	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.
GroupStandby¹	BOOL	FALSE, TRUE	N/A	The axes group is in the Standby state. The group: Is enabled and all its axes are enabled. Is not currently executing a coordinated motion command. The axes group is ready to accept coordinated motion commands.
GroupStopping¹	BOOL	FALSE, TRUE	N/A	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. Will remain in the Stopping state while MC_GrpStop’s Execute input is held high.
GroupDisabled¹	BOOL	FALSE, TRUE	N/A	The axis group is in the Disabled state and cannot accept coordinated motion commands.
ConstantVelocity	BOOL	FALSE, TRUE	N/A	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 0 (zero).
Accelerating	BOOL	FALSE, TRUE	N/A	TRUE if the commanded path velocity is accelerating between the current scan of the application program and the previous scan.
Decelerating	BOOL	FALSE, TRUE	N/A	TRUE if the commanded path velocity is decelerating between the current scan of the application program and the previous scan.
InPosition	BOOL	FALSE, TRUE	N/A	TRUE indicates that the axes group is “in position”. These 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 of the command position for each axis in the group.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error identifier if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.

¹ These outputs are mutually exclusive. Only one is TRUE at a time.
All others are FALSE.
See Group State Diagrams.

Remarks

This function or function block returns cached data.
See Program a Multi-Core Controller.

See Coordinated Motion, the top-level topic for Coordinated Motion.
MC_GrpReadStatus returns the status of an axes group.
- This function block does not cause any motion.
See Group State Diagrams.

Figure 1: MC_GrpReadStatus

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//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;