MC_GroupEnable

This FB serves to execute a state change for an axes group from "Group Disabled " to "Group Standby " in order to enable the axes group for coordinated multi-axis movements.

This is an administrative FB as no motion command is generated.

Note!

Before the axes group is activated, all drive axes have to be

in "Standstill" state and

assume a position which enables a correct result for the calculation of the kinematic transformation.

If the mentioned conditions do not apply, the switch-on of the axes group is denied with an error message.

In order that the drive axes assume a valid position before the axes group is activated, they have to be referenced via MC_Home , MC_SetPosition or MC_GroupSetPosition . Observe the notes regarding the FB MC_GroupHome .

		MC_GroupEnable
AXES_GROUP_REF	-	AxesGroup	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
			Error	-	BOOL
			ErrorID	-	L_IE1P_Error

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_REF	axes group reference
Execute BOOL	FALSE ä TRUE	Carry out state change from "GroupDisabled" to "GroupStandby" for the axes group.

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

Execute

BOOL

FALSE ä TRUE

Carry out state change from "GroupDisabled" to "GroupStandby" for the axes group.

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Processing successfully completed. The axes group is now in the "GroupStandby" state.
Busy BOOL	TRUE	Processing is running.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.