MC_GroupReadStatus

This Function Block returns the status of an AxesGroup.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	AxesGroup	AXES_GROUP_REF	A logical reference to a group of axes, which contains several additional substructures pertaining to the group. *
VAR_INPUT
B	Enable	BOOL	The function will continue to execute every scan while Enable is held high and there are no errors.	FALSE
VAR_OUTPUT
B	Valid	BOOL	Indicates that the function is operating normally and the outputs of the function are valid.
E	Busy	BOOL	Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error)
B	GroupMoving	BOOL	Group is in the "GroupMoving" state.
B	GroupHoming	BOOL	Group is in the "GroupHoming" state.
B	GroupErrorStop	BOOL	Group is in the "GroupErrorStop" state.
B	GroupStandby	BOOL	Group is in the "GroupStandby" state.
B	GroupStopping	BOOL	Group is in the "GroupStopping" state.
B	GroupDisabled	BOOL	Group is in the "GroupDisabled" state.
E	ConstantVelocity	BOOL	Axis moves with constant velocity.
E	Accelerating	BOOL	Increasing energy of the motor
E	Decelerating	BOOL	Decreasing energy of the motor.
E	InPosition	BOOL	Group is at the final commanded position as specified by the last motion function block executed.
V	StandStill	BOOL	Group is enabled, powered, there is no motion and no group alarms .
V	Interrupted	BOOL	The MC_GroupInterrupt function block was executed. Buffered motion is decelerated to a stop. Motion functions executed while in the Interrupted state can be added to the motion queue, but no motion will occur until MC_GroupContinue is executed.
V	SynchronizedMotion	BOOL	The Group is tracking an Axis, Group or Coordinate System.
V	DiscreteMotion	BOOL	A direct, linear, or circular move is in progress.
V	ContinuousMotion	BOOL	A group jog is in progress.
B	Error	BOOL	Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low.
E	ErrorID	UINT	If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low.

Error Description

See the Function Block ErrorID List.

Notes

Continuous lines are commanded transitions; dotted lines are automatic transitions.

Note 1: Applicable for all non-administrative (moving) function blocks.

Note 2: In the states GroupErrorStop or GroupStopping, all Function Blocks can be called, although they will not be executed, except MC_GroupReset for GroupErrorStop and any occurring Error– they will generate the transition to GroupStandby or GroupErrorStop respectively.

Note 3: MC_GroupStop.DONE AND NOT MC_GroupStop.EXECUTE

Note 4: Transition is applicable if last axis is removed from the group

Note 5: Transition is applicable while group is not empty.

Note 6: MC_GroupDisable can be issued in all states and will change the state to GroupDisabled.