Function BlockMC_AddAxisToGrpPLCopen motion iconPipe Network motion icon

Description

This function block adds an axis to an axes group. Both the axis and the axes group must be created prior to calling this function block. See MC_CreateAxesGrp and Create 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.

This function block does not cause motion.


    • 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.

Figure 7-151: MC_AddAxisToGrp

Related Functions

MC_CreateAxesGrp, MC_GrpReadStatus , MC_RemAxisFromGrp, MC_UngroupAllAxes, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute Description On the rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge the axis is added to the group.
  Data type BOOL
  Range 0, 1
  Unit n/a
  Default
AxesGroup Description Reference to an axes group
  Data type AXES_GROUP_REF
  Range
  Unit n/a
  Default
Axis Description

Reference to the axis to be added. An axes group cannot contain more than one instance of an axis.

  Data type AXIS_REF
  Range
  Unit n/a
  Default
IdentInGroup Description

The zero-based index 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.

  Data type UINT
  Range [0, MaxNumberOfAxes - 1]
  Unit n/a
  Default

Output

Done Description If True, then the command completed successfully.
  Data type BOOL
Error Description If True, an error has occurred.
  Data type BOOL
ErrorID Description Indicates the error identifier if Error output is set to True. See the table in PLCopen Function Block ErrorID Output.
  Data type INT

Example

Structured Text

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

IL

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

FBD

Ladder Diagram

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