MC_GroupReadStatus (FB)¶

FUNCTION_BLOCK MC_GroupReadStatus

This function block returns the status of an axis group.

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	Enable	BOOL	Get the status of the axis group continuously while enabled
Output	Valid	BOOL	TRUE if valid outputs are available
	Busy	BOOL	The FB is not finished
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification
	GroupMoving	BOOL	See SMC_Axis_Group_State
	GroupHoming	BOOL	See SMC_Axis_Group_State
	GroupErrorStop	BOOL	See SMC_Axis_Group_State
	GroupStandby	BOOL	See SMC_Axis_Group_State
	GroupStopping	BOOL	See SMC_Axis_Group_State
	GroupDisabled	BOOL	See SMC_Axis_Group_State
	TrackingDynamicCS	BOOL	If the active movement is commanded using a dynamic coordination system, E.g. with MC_TrackConveyorBelt or MC_TrackRotaryTable.
	InSync	BOOL	Indicates whether the axis group follows the programmed path exactly. If FALSE, the axis group is following the path within the configured tolerance. See SMC_GroupSetPathTolerance.
	ActiveMovementId	SMC_Movement_Id	The identifier of the active movement. An Id of 0 means that no movement is active. During blending between two movements, the second movement becomes active as soon as blending starts. When aborting, the aborting movements becomes active immediately after it has been accepted. See FirstReferencedMovementId for additional information.
	ActiveMovementName	STRING	The name of the active movement.
	FirstReferencedMovementId	SMC_Movement_Id	The identifier of the first (i.e. oldest) movement which is still being referenced by an ongoing movement. An Id of 0 means that no movement is active. To test whether the axis group is fully tracked in to a dynamic coordinate system (or fully tracked out), the condition FirstReferencedMovementId = ActiveMovementId can be used.
	LastAcceptedMovementId	SMC_Movement_Id	The identifier of the movement that was last accepted. An Id of 0 means that no movement has been accepted yet.
	PositionLag	LREAL	The magnitude of the position lag (in position units). The position lag is the deviation of the position of the axis group from the programmed trajectory.
	OrientationLag	LREAL	The magnitude of the orientation lag (in angular degrees). The orientation lag is the deviation of the orientation of the axis group from the programmed trajectory.
	CurrentPlanningForecast	LREAL	The current planning forecast in seconds. Will be between 0 and the fPlanningForecastDuration configured using SMC_TuneCPKernel. While the axis group is moving, should be exactly the fPlanningForecastDuration. Limited to the remaining trajectory duration while the axis group is stopping.
	CurrentSyncBufferDuration	LREAL	The current duration of the synchronisation buffer between fieldbus and planning task in seconds. Will be between 0 and the fSyncBufferDuration configured using SMC_TuneCPKernel. This value must be > 0 while the axis group is moving. Otherwise, the error SMC_CP_QUEUE_UNDERRUN will be reported.