Y_GroupInputs

This Function Block serves as a method to provide physical input / status information to the AxesGroup structure for signals typically associated with a group or mechanism. These conditions must be managed via wiring and / or a safety PLC external to the controller. The Y_GroupInputs function block only serves as a method to report the current conditions of the externally managed systems to other function blocks and allows the controller to share this data with a teach pendant or HMI.

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	ControlMode	BOOL	FALSE = Automatic, TRUE=Manual.	FALSE
V	EStop	BOOL	FALSE = Not E-Stopped	FALSE
V	GuardCircuit	BOOL	FALSE = Guard circuit is not preventing motion.	FALSE
V	LiveMan	BOOL	FALSE = Pendant liveman switch is not preventing motion.	FALSE
V	PendantConnected	BOOL	FALSE = No Teach Pendant Connected. Some pendants have a physical input as part of the cable which confirms the connection. Other pendants use a heartbeat signal to confirm communication.	FALSE
V	SafetyCircuit	BOOL	FALSE = The Safety Circuit is not preventing motion.	FALSE
VAR_OUTPUT
B	Valid	BOOL	Indicates that the function is operating normally and the outputs of the function are valid.

Notes

This function block is optional for locally hosted groups. If this function block is not Enabled, AxesGroup.Group.InputsValid will be FALSE, and the group motion blocks will not generate any group input related errors.
There is a MC_GroupStopfunction block inside Y_GroupInputs which will execute each time the ControlMode changes to stop any group motion that may be ongoing.
All signals mapped into the Y_GroupInputs function block must be managed externally via wiring and / or a safety PLC. The controller may not a safety PLC and only considers the Group Input signal information for status purposes. The controller will check for the proper conditions before allowing any Y_GroupJog or MC_MoveLinear or similar function to execute. If the required input conditions are not met, the motion function block will generate an error.
MC_MoveLinear and similar motion functions will only check for the required conditions on the rising edge of MC_Move*.Execute. If a condition changes after motion is in progress, it is the responsibility of the safety PLC and associated device to provide a safe situation.
Y_GroupJog* function blocks will check for the required conditions every scan while their Enable input is high. If the required conditions change during function block operation, motion will stop and an Error will be generated. Do not rely on the iCube controller to safely stop a group when an E-Stop, Guard Circuit, LiveMan switch, or Safety Circuit has been activated. Use hard wired circuits and / or a safety PLC.
For MotomanSync hosted groups, only the ControlMode input will have an effect. All other inputs are read automatically by MS_Driver.

Error description

See the Function Block ErrorID List .