RM_AxesGroup – Axes group for coordinated motion control

Block SymbolLicensing group: COORDINATED MOTION

Function Description

Note 1: Applicable for all non-administrative (moving) function blocks.
Note 2: In the states GroupErrorStop or GroupStopping, all Function Blocks canbe called, although they will not be executed, except MC_GroupReset for GroupErrorStop and any occurring Error– they will generate the transition to GroupStandby or GroupErrorStop respectively
Note 3: MC_GroupStop.DONE AND NOT MC_GroupStop.EXECUTE
Note 4: Transition is applicable if last axis is removed from the group
Note 5: Transition is applicable while group is not empty.
Note 6: MC_GroupDisable and MC_UngroupAllAxes can be issued in all states and will change the state to GroupDisabled.

Parameters

McsCount	Number of axis in MCS $↓$ 1 $↑$ 6 $⊙$ 6	Long (I32)
AcsCount	Number of axis in ACS $↓$ 1 $↑$ 16 $⊙$ 6	Long (I32)
PosCount	Number of position axis $↓$ 1 $↑$ 6 $⊙$ 3	Long (I32)
Velocity	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)

Outputs

refGroup	Axes group reference	Reference
refPos	Position, velocity and acceleration vector	Reference
iState	Group status	Long (I32)
	0 .... Disabled 1 .... Standby 2 .... Homing 6 .... Moving 7 .... Stopping 8 .... Error stop
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

The State Diagram of AxesGroup

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