Y_GP_GroupControl
This function block operates and monitors several PLCopen Part 4 group related function blocks including
MC_GroupEnable,
MC_GroupDisable,
MC_GroupReadError,
MC_GroupReset,
Y_GroupPower
and other function blocks such as
Y_ReadAlarm,
Y_ClearAlarms.
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 |
| V | EnableGroup | BOOL | If TRUE, the MC_GroupEnablefunction block will be executed. If FALSE, the MC_GroupDisable function block will be executed. | FALSE |
| V | EnablePower | BOOL | If TRUE, all the axes belonging to the AxesGroup will be powered. All axes are first checked for alarms, and if any alarms are present, no axes are powered. If FALSE, all of the axes belonging to the group will be powered down (servo off). NOTE: This level sensitive input will retry to achieve the requested condition every 2 seconds if there is an error preventing its success. |
FALSE |
| V | AlarmClear | BOOL | Executes MC_GroupReset, MC_Reset, and Y_ClearAlarms based on the current alarms related to the AxesGroup. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| B | 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 block is operating, but not ready to provide Valid information (No Error). | |
| V | GroupStatus | BOOL | Indicates if the group is enabled. | |
| V | PowerStatus | BOOL | Indicates that all axes in the group are powered. | |
| V | ControllerAlarm | BOOL | Indicates a controller side axis alarm. | |
| V | ControllerAlarmID | UDINT | Indicates the controller Alarm ID number, such as 3302 0018. (shown in hex.) Refer to the Controller Alarm ID List for troubleshooting. | |
| V | GroupError | BOOL | Indicates a group alarm. | |
| V | GroupErrorClass | UINT | The error class indicates the source of the error. For more information, refer to the Controller Alarm ID List. | |
| V | GroupErrorID | UINT | Indicates the group alarm ID number. Refer to the Controller Alarm ID List. | |
| V | GroupErrorSubCode | UDINT | If using a remote hosted Robot Controller via MotomanSync, this output reports additional error detail. | |
| V | AxisAlarm | BOOL | Indicates an axis alarm. | |
| V | AxisErrorClass | UINT | The Error Class indicates the source of the error. For more information see notes and Controller Alarm ID List. | |
| V | AxisErrorID | UINT | Indicates the axis alarm ID number. See MC_ReadAxisErrorin the Y_PLCopenPart1_Toolbox help manual for more information. | |
| V | AxisWarnings | BOOL | Indicates an axis warning. | |
| V | AxisWarningID | UINT | Indicates the axis warning ID number. See notes for more information. | |
| V | AuxiliaryError | BOOL | Set high if one of the following Function Blocks used internally generated an error: MC_GroupEnable , MC_GroupDisable , MC_GroupReset , Y_GroupPower , Y_ClearAlarms , MC_Resets . Notice that this output is not related to the validity of the rest of the outputs, this just indicates that one of the actions couldn't be done. | |
| V | AuxiliaryErrorID | UINT | If AuxiliaryError is TRUE, this output provides the identifier of the error . | |
| B | Error | BOOL | Set high if an error occurred while reading value(s) to be given as outputs. If this output is TRUE, it means that the Function Block cannot provide a valid value for at least one output; in such a case, all the reading outputs will be set to FALSE / 0. Notice that this output is mutually exclusive with Valid and Busy. 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. | |
Notes
- If AxisErrorClass has a value of 16#3302 or 16#3303 then the source of the problem is the amplifier. Sigma alarms are documented in the Sigma Series user manuals. Please refer to the corresponding manuals for details regarding servo amplifier errors to look up the alarm code shown at AxisErrorID output.
- Sigma-7S EtherCAT core manuals (100/200V and 400V): Sigma-7S EtherCAT product manuals, Section 15.2
- Sigma-7W EtherCAT core manuals (400 V): Sigma-7W EtherCAT product manual, Section 15.2
- If AxisErrorClass is some value other than 16#3302 or 16#3303 the source of the problem is on the controller side. Refer to the Controller Alarm ID List.
- AxisWarnings are related to the amplifier, please refer to the corresponding manuals for details of the warnings.
- There is no distinction between Alarms and Errors; they have the same meaning.
Error Description
See the Function Block ErrorID List.
Example
Example showing the errors in the group after a move is attempted with velocities and accelerations exceeding the servo limits. Also an AuxiliaryError is generated when the FB tries to power the group but the alarms are blocking the powering.
