RM_AxesGroup – Axes group for coordinated motion control

Block SymbolLicensing group: COORDINATED MOTION
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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/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

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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