Coordinated Motion Function Blocks
This section contains a table with an alphabetical list of the Coordinated Motion function blocks. The table includes where the function block can be found in the KAS IDE"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger library, starting from Motion/Common > Coordinated Motion > (Grouping).
Name | Grouping | Description |
---|---|---|
MC_AddAxisToGrp | Group Control | Adds an axis to an axes group. |
MC_AxisSetDefaults | Motion | Sets the default kinematic parameters for an axis. |
MC_CreateAxesGrp | Group Control | Create an axis group for coordinated motion. |
MC_ErrorDescription | Motion/Common > Info | Converts the PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML error IDs into message strings |
MC_GrpReset | Group Control | Resets all the axes in an axes group. |
MC_GrpDisable | Group Control | Changes the state of a group to GroupDisabled. |
MC_GrpEnable | Group Control | Changes the state of a group from GroupDisabled to GroupStandby. |
MC_GrpHalt | Motion | Performs a controlled motion stop of all the axes in the group |
MC_GrpReadActAcc | Info | Reads the actual acceleration of the group and the axes in the group. |
MC_GrpReadActPos | Info | Reads the actual position of the axes in the group. |
MC_GrpReadActVel | Info | Reads the actual velocity of the group and the axes in the group. |
MC_GrpReadBoolPar | Group Control | Reads a value from the specified boolean group parameter |
MC_GrpReadParam | Group Control | Reads a value from the specified group parameter. |
MC_GrpReadCmdPos | Info | Reads the command position of the axes in the group. |
MC_GrpReadCmdVel | Info | Reads the command velocity of the axes in the group and the path velocity. |
MC_GrpReadError | Info | Reads the Group ErrorID in State ERRORSTOP. |
MC_GrpReadStatus | Info | Returns the status of an axes group. |
MC_GrpReset | Group Control | Makes the transition from the state GroupErrorStop to GroupStandby by resetting all internal group-related errors. Also resets axis errors and drive faults for each axis in the group. |
MC_GrpSetOverride | Motion | Sets the velocity factor that is multiplied to the commanded velocity of all axes in the group. |
MC_GrpSetPos | Reference | Sets the axis position for all of the axes in an axes group to the positions specified in the Position input. |
MC_GrpStop | Group Control | Performs a non-aborted, controlled motion stop on all axes in an AxesGroup. |
MC_GrpWriteBoolPar | Group Control | Writes a value to the specified boolean group parameter. |
MC_GrpWriteParam | Group Control | Writes a value to the specified group parameter. |
MC_InitAxesGrp | Group Control | Initializes the kinematic limits for the axis group. |
MC_MoveCircAbs | Motion | Commands interpolated circular movement on an axes group to the specified absolute positions. |
MC_MoveCircRel | Motion | Commands interpolated circular movement on an axes group to the specified relative positions. |
MC_MoveDirAbs | Motion | Commands movement of an axes group to an absolute position regardless of path. |
MC_MoveDirRel | Motion | Commands movement of an axes group to a relative position regardless of path. |
MC_MoveLinAbs | Motion | Commands interpolated linear movement on an axes group to the specified absolute positions. |
MC_MoveLinRel | Motion | Commands interpolated linear movement on an axes group to the specified relative positions. |
MC_RemAxisFromGrp | Group Control | Removes an individual axis from an axis group. |
MC_SetKinTra | Group Control | Sets the kinematic transform between the Machine Coordinate System and the Axes Coordinate System |
MC_UngroupAllAxes | Group Control | Removes all axes from an axes group. |