MC_CreateAxesGrp
Description
MC_CreateAxesGrp creates an axes group for coordinated motion. 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.
Example of a valid setup:
AxesGroup1: Axis0, Axis1, Axis2
AxesGroup2: Axis3, Axis4
Example of an invalid setup:
AxesGroup1: Axis0, Axis1, Axis2
AxesGroup2: Axis2, Axis3, Axis4
The invalid setup is not allowed because Axis2 would be a part of two axes groups at the same 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.
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MC_CreateAxesGrp must be called between MLMotionInit and MLMotionStart.
Figure 7-159: MC_CreateAxesGrp
Related Function Blocks
MC_InitAxesGrp, 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 edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge, this function block will create a coordinated motion axes group |
Data Type | BOOL | |
Range | 0, 1 | |
Unit | N/A | |
Default | — | |
Name | Description | Axes Group Name |
Data Type | STRING | |
Range | String length from 1 to 64 characters. The string length is limited to 64 characters for optimal controller performance. | |
Unit | N/A | |
Default | — | |
UpdateRate | Description |
Update rate of the axes group. The group update rate will be the same as the Base Period specified in MLMotionInit. The update rate will run at the Base Period if it is a smaller time than the Base Period. (0, 1, and 2 are reserved for future enhancements) |
Data Type | UINT | |
Range | [3,9] | |
Unit | N/A | |
Default | — | |
MaxNumberOfAxes | Description | The maximum number of axes that can be controlled by the group. |
Data Type | UINT | |
Range | [2,256] | |
Unit | N/A | |
Default | — | |
AxesGroupRef | Description | The axes group reference variable to be initialized with a reference to the new axes group. |
Data Type | AXES_GROUP_REF | |
Range | N/A | |
Unit | N/A | |
Default | — |
Output
Done | Description |
If True, then the command completed successfully. |
Date Type | BOOL | |
Error | Description |
If True, then an error has occurred. |
Date Type | BOOL | |
ErrorID | Description | Indicates the error if Error output is set to TRUE. See the table in PLCopen Function Block ErrorID Output. |
Date Type | INT |
Example
Calls to this function block are automatically generated when the application is compiled. Users should not manually call this function block.
Structured Text
Inst_MC_CreateAxesGrp( DoExecute, 'Group1', UpdateRate_3, MaxAxes, Group1_Ref);
Instruction List
BEGIN_IL"Instruction list" This is a low-level language and resembles assembly CAL Inst_MC_CreateAxesGrp1(DoExecute, 'Group1', UpdateRate_3, MaxAxes, Group1_Ref)
END_IL
Function Block Diagram
Ladder Diagram