Coordinated Motion Function Blocks

These tables are a list of the Coordinated Motion function blocks:

Group Control

See Coordinated Motion Location to find this function block.

Name	Grouping	Description
MC_AddAxisToGrp	Group Control	Adds an axis to an axes group.
MC_CreateAxesGrp	Group Control	Create an axis group for coordinated motion.
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_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_GrpReset	Group Control	Resets all the axes in an axes group.
MC_GrpReset	Group Control	Makes the transition from the state GroupErrorStop to GroupStandby by resetting all internal group-related errors. Resets axis errors and drive faults for each axis in the group.
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_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.

See Coordinated Motion Location to find this function block.

Name	Grouping	Description
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_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.

See Coordinated Motion Location to find this function block.

Name	Grouping	Description
MC_AxisSetDefaults	Motion	Sets the default kinematic parameters for an axis.
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_GrpHalt	Motion	Performs a controlled motion stop of all the axes in the group
MC_GrpSetOverride	Motion	Sets the velocity factor that is multiplied to the commanded velocity of all axes in the 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.

See Coordinated Motion Location to find this function block.

Name	Grouping	Description
MC_GrpSetPos	Reference	Sets the axis position for all of the axes in an axes group to the positions specified in the `Position` input.