MC_AddAxisToGrp

PLCopen motion icon Pipe Network motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Adds an axis to an axes group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., the axis is added to the group.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	Reference to an axes group.
Axis	AXIS_REF	No range	N/A	No default	Reference to the axis to be added. An axes group cannot contain more than one instance of an axis.
IdentInGroup	UINT	0, MaxNumberOfAxes - 1	N/A	No default	The zero-based index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. of the axis in the group. The axis slot in the group cannot be occupied by another axis. The index must be less than the maximum number of axes the group can contain. `MaxNumberOfAxes` is a property of the axes group and is set when the group is created. To remove an axis from a group see MC_RemAxisFromGrp.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	If TRUE, the command completed successfully.
Error	BOOL	No range	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Done

BOOL

No range

N/A

If TRUE, the command completed successfully.

Error

BOOL

No range

N/A

If TRUE, an error has occurred.

ErrorID

INT

No range

N/A

Indicates the error if the Error output is set to TRUE.

See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

- An axes group cannot contain more than one instance of an axis.
- Two active groups cannot contain the same axis. An "active" group is one in any state other than GroupDisabled.

This function or function block does not generate any motion.
See Coordinated Motion, the top-level topic for Coordinated Motion.
See Function Blocks - General Rules about how inputs and outputs work.
Both the axis and the axes group must be created prior to calling this function block.
- See MC_CreateAxesGrp and Create a PLCopen Axis.
The IdentInGroup input specifies the index of the axis in the group.
- Axes do not need to be added in sequential order and gaps are acceptable.
- Gaps are ignored when the group is used.
The group must be in either the GroupStandby or GroupDisabled state when the axis is added.
- The state of the group can be read with MC_GrpReadStatus.
- This implies that the group cannot be moving when the axis is added.

Figure 1: MC_AddAxisToGrp

FBD Language Example

FFLD Language Example

IL Language Example

BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
     CAL Inst_MC_AddAxisToGrp( AddAxisToGrp, Group1_ref, Axis_1, 0 )
END_IL

ST Language Example

(*MC_AddAxisToGrp ST Structured text - A high-level language that is block structured and syntactically resembles Pascal. example *)
Inst_MC_AddAxisToGrp (AddAxisToGrp, Group1_ref, Axis_1, 0);