MC_CreateAxesGrp

 Function Block - Create an axis group for coordinated motion.

• See Coordinated Motion, the top-level topic for Coordinated Motion.
• See Function Blocks - General Rules about how inputs and outputs work.
• Calls to this function block are automatically generated when the application is compiled.
  • Users should not manually call this function block.
• More than one axes group may be created and be active at the same time but each axis can only be a part of one group at a time.
• If an axis needs to be in more than one group, it can be removed from one and then added to another group.
  • This is done using MC_RemAxisFromGrp and MC_AddAxisToGrp.

• 
  

• MC_CreateAxesGrp must be called between MLMotionInit and MLMotionStart.

Inputs

Input	Data Type See Data Types.	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, this function block creates a coordinated motion axes group.
Name	STRING	1 to 64 characters	N/A	No default	Axes Group Name The string length is limited to 64 characters for optimal controller performance.
UpdateRate	Enumerated	3 to 9	N/A	No default	Update rate of the axes group. Value Update Rate Enumeration 3 CM_UPDATERATE_125us 4 CM_UPDATERATE_250us 5 CM_UPDATERATE_500us 6 CM_UPDATERATE_1ms 7 CM_UPDATERATE_2ms 8 CM_UPDATERATE_4ms 9 CM_UPDATERATE_8ms
MaxNumberOfAxes	UINT	2 to 256	N/A	No default	The maximum number of axes that can be controlled by the group.
AxesGroupRef	AXES_GROUP_REF	No range	N/A	No default	The axes group reference variable to be initialized with a reference to the new axes group.

Outputs

Output	Data Type See Data Types.	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	Enumerated	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MC_CreateAxesGrp( DoExecute, 'Group1', UpdateRate_3, MaxAxes, Group1_Ref);

See Also

• MC_InitAxesGrp
• MC_ErrorDescription

s