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.

• 
  

• 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 edge A 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) 3 = 125 μsec 4 = 250 μsec 5 = 500 μsec 6 = 1 msec 7 = 2 msec 8 = 4 msec 9 = 8 msec
	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

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