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 PLCopen A 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.