attempts to assign an axis under such circumstances. Refer HX command to delete a
group.
• An axis cannot be assigned more than once in a group. The controller returns error
19, GROUP AXIS DUPLICATED, if one attempts to assign an axis more than once
to a group.
• The order in which axes are assigned to a group is very important. This is because it
specifies the frame of reference in which coordinated motion of axes takes place.
For instance, the command 1HN1,2 assigns axis numbers 1 and 2 to group number 1,
where axis #1 is equivalent to X-axis and axis #2 is equivalent to Y-axis in a
traditional cartesian coordinate system. Reversing the ordering of axes (viz.
1HN2,1) reverses the axis assignment.
• If a group has more than two axes assigned to it, and the group was commanded to
make an arc (refer to HC command), the first two axes in the group are used to make
the desired move.
RETURNS If “?” sign takes the place of nn values, this command reports the axes assigned
to the group in the order of their assignment.
REL. COMMANDS HV - set vectorial velocity for a group
HA - set vectorial acceleration for a group
HD - set vectorial deceleration for a group
HO - enable a group
HF - disable a group
HC - move a group of axes to desired position along an arc.
HL - move a group of axes to desired position along a line.
EXAMPLE 1HN1,2 | create a new group (#1) with physical axes 1 and 2
1HN? | query axis assigned to group #1
1,2 | controller returns the axes assigned to group #1
1HN2,3 | create a new group (#1) with physical axes 1 and 2
1HN? | query axis assigned to group #1
1,2 | controller returns the axes assigned to group #1
TB? | read error message
0, 450322, GROUP NUMBER ALREADY ASSIGNED
1HX | delete group #1
1HN2,3 | create a new group (#1) with physical axes 1 and 2
1HN? | query axis assigned to group #1
2,3 | controller returns the axes assigned to group #1
2HN? | query axis assigned to group #2
TB? | read error message
0, 475322, GROUP NUMBER NOT ASSIGNED
2HN3,4 | create a new group (#2) with physical axes 3 and 4
2HN? | query axis assigned to group #2
TB? | read error message
0, 500322, GROUP AXIS ALREADY ASSIGNED
2HN4,4,5 | create a new group (#2) with physical axes 4, 4 and 5
2HN? | query axis assigned to group #2
TB? | read error message
0, 525322, GROUP AXIS DUPLICATED
3-76 Section 3 – Remote Mode
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