SMC_GroupUpdate (FB)¶

FUNCTION_BLOCK SMC_GroupUpdate

This function block can be used to bring forward the execution of all of the axis group’s implicit computations. If Enable = TRUE, they will be shifted from the end of the cycle to the execution-time of this function block.

Note

All function blocks that influence the state of the axis group should be called before this function block. E.g. if you want to move a single axis of the axis group via a single axis function block, the torque values are not updated by the axis group if you call the single axis function block after SMC_GroupUpdate.

Note

All function blocks that require the final state of the axis group for this cycle have to be called after SMC_GroupUpdate. E.g. if you use an axis of the axis group as a master axis for another axis, the respective master/slave function block has to be called after SMC_GroupUpdate.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3
Input	`Enable`	`BOOL`
Output	`Error`	`BOOL`	Signals that an error has occurred within the function block
Output	`ErrorID`	`SMC_ERROR`	Error identification