Motion / Common - Coordinated Motion

These tables list the Coordinated Motion function blocks and function blocks:

Group Control

See Coordinated Motion - Group Control for more information.

Name

Description

MC_AddAxisToGrp

Adds an axis to an axes group.

MC_CreateAxesGrp

Create an axis group for coordinated motion.

MC_GrpDisable

Changes the state of a group to GroupDisabled.

MC_GrpEnable

Changes the state of a group from GroupDisabled to GroupStandby.

MC_GrpReadBoolPar

Reads a value from the specified Boolean group parameter.

MC_GrpReadParam

Reads a value from the specified group parameter.

MC_GrpReset

Makes the transition from the state GroupErrorStop to GroupStandby by resetting all internal group-related errors.

ccpMC_GrpStop

Performs a controlled motion stop of all axes in the group.

MC_GrpWriteBoolPar

Writes a value to the specified Boolean group parameter.

MC_GrpWriteParam

Writes a value to the specified group parameter.

MC_InitAxesGrp

Initializes the kinematic limits for the axis group.

MC_RemAxisFromGrp

Removes an individual axis from an axis group.

MC_SetKinTra

Sets the kinematic transform between the Machine Coordinate System and the Axes Coordinate System.

MC_UngroupAllAxes

Removes all axes from an axes group.

Info

See Coordinated Motion - Info for more information.

Name

Description

MC_GrpReadActAcc

Reads the actual acceleration of the group and the axes in the group.

MC_GrpReadActPos

Reads the actual position of the axes in the group.

MC_GrpReadActVel

Reads the actual velocity of the group and the axes in the group.

MC_GrpReadCmdPos

Reads the command position of the axes in the group.

MC_GrpReadCmdVel

Reads the command velocity of the axes in the group and the path velocity.

MC_GrpReadError

Reads the Group ErrorID in state ERRORSTOP.

MC_GrpReadStatus

Returns the status of an axes group.

Motion

See Coordinated Motion - Motion for more information.

Name

Description

MC_AxisSetDefaults

Sets the default kinematic parameters for an axis.

MC_ErrorDescription

Converts the PLCopen error IDs into message strings.

MC_GrpHalt

Performs a controlled motion stop of all axes in the group.

MC_GrpSetOverride

Sets the velocity factor that is multiplied to the commanded velocity of all axes in the group.

MC_MoveCircAbs

Commands interpolated circular movement on an axes group to the specified absolute positions in the coordinate system as specified by the CoordSystem argument.

MC_MoveCircRel

Commands interpolated circular movement on an axes group to the specified relative positions in the coordinate system as specified by the CoordSystem argument.

MC_MoveDirAbs

Commands movement of an axes group to an absolute position regardless of path.

MC_MoveDirRel

Commands movement of an axes group to a relative position regardless of path.

MC_MoveLinAbs

Commands interpolated linear movement on an axes group to the specified absolute positions.

MC_MoveLinRel

Commands interpolated linear movement on an axes group to the specified relative positions.

Reference

See Coordinated Motion - Reference for more information.

Name

Description

MC_GrpSetPos

Sets the axis command position for all of the axes in an axes group to the positions specified in the Position input.