SMC_GroupWait (FB)¶

FUNCTION_BLOCK FINAL SMC_GroupWait

This Function Block enables programmed waiting on the path, that is, in between of two other movements. It is not possible to blend into or from waiting. The waiting time starts right after the previously commanded movement has finished.

The waiting time between the two surrounding movements will be exactly the configured time. This means that the effective waiting time between two movements could even be reduced by an SMC_GroupWait. An example are buffered movements: Normally, buffered movements always start at the beginning of a bus cycle. But if a buffered movement follows an SMC_GroupWait, it will start immediatly after the waiting time, instead of at the beginning of the next cycle.

If a waiting command follows a tracking movement, the axis group will track the endpoint of the preceding movement for the specified time.

If the axes are not in standstill, but not controlled by the axis group, and waiting is commanded, the axis group will report the error SMC_AXIS_GROUP_IDLE_WAIT_AXES_MOVING.

As set-values are updated once per bus cycle, waiting times different from a multiple of the bus cycle time will just appear as a smoother start-up of the subsequent movement.

Due to technical reasons, the waiting time can increase by up to one cycle in the following cases: - non-tracking -> waiting -> tracking - tracking -> waiting -> non-tracking - tracking -> waiting -> PTP-tracking

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	Execute	BOOL	Start the action at rising edge
	WaitTime	LREAL	The time to wait on the path, in seconds. May not be negative.
Output	Done	BOOL	Standstill has been reached
	Busy	BOOL	The FB is not finished
	Active	BOOL	Indicates that the FB has control on the axis
	CommandAborted	BOOL	Command is aborted by another command
	CommandAccepted	BOOL	The command has been accepted by the axis group. If the output becomes TRUE, the function block instance can be used to command the next movement with a new rising edge on Execute. While the output is FALSE, keep calling the function block without a new rising edge of Execute. The output is reset to FALSE on a falling edge of Execute.
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification
	MovementId	SMC_Movement_Id	The unique identifier of the movement. Valid if CommandAccepted or Done is TRUE.