Chapter 8 Motion Control Function
8.2.6 Axis Group Control
Axis group control is a function to control the trajectory of moving objects by setting involved multiple axes into one axis group. For axis
group control, axis group is to be set.
Axis group operation includes linear interpolation, circular interpolation and helical interpolation.
As for coordinate system in which axis group control is operated, only Cartesian coordinate system is supported
1. Axis group settings
For axis group control, axis group should be set and enabled prior to the execution of operation.
Configuration axis can be specified, and axis group is set using XG5000. In addition, the use of motion function block makes it
possible to add axes to axis group or remove them from it.
When axis group is configured, axis group operation can be executed after enabling the axis group.
(1) Add axis to group
It means adding an axis to the axis group. The configuration axis specified into IdentlnGroup is added to the axis group
specified in AxesGroup input.
It can be executed only in case where the axis group is in group disablement (GroupDisabled) and group standby
(GroupStandBy) state.
MC_AddAxisToGroup
AxisAxis
AxesGroup AxesGroup
UINTUINT
UINT UINT
BOOL Execute Done BOOL
Busy BOOL
Error BOOL
ErrorID WORD
IdentInGroupUINT
(2) Remove axis from group
It means removing an axis from the axis group. The configuration axis specified into IdentlnGroup is removed from the
axis group specified in AxesGroup input.
It can be executed only in case where the axis group is in group disablement (GroupDisabled) and group standby
(GroupStandBy) state.
In case there are no remaining axes in the axis group, the axis group is changed to disabled state.
MC_RemoveAxisFromGroup
AxesGroup AxesGroupUINT UINT
BOOL Execute Done BOOL
Busy
BOOL
Error
BOOL
ErrorID
WORD
IdentInGroupUINT
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