L_MC4P_AxesGroupBasicControl

This FB summarises all basic functions for the commissioning of an axes group - equivalent to the L_MC1P_AxisBasicControl for a single axis:

All axes of the axes group are

commissioned ( L_MC1P_AxisBasicControl )

switched on ( L_MC4P_GroupPower )

Switch on/off axes group ( MC_GroupEnable , MC_GroupDisable )

Set position of the drives ( MC_GroupSetPosition )

Reference axes group in a coordinated way in the ACS ( MC_GroupHome )

Traverse single axes of the axes group:

Manually via jogging mode ( L_MC1P_ManualJog )

Absolute or relative positioning ( MC_MoveAbsolute , MC_MoveRelative )

Traverse axes group in a coordinated way:

direct absolute ( MC_MoveDirectAbsolute )

direct relative ( MC_MoveDirectRelative )

linear absolute ( MC_MoveLinearAbsolute )

linear relative ( MC_MoveLinearRelative )

In addition, the FB can be used to display the status and error messages, and to reset an error.

Note!

When the FB L_MC4P_AxesGroupBasicControl is used, the override for velocity, acceleration and jerk can be directly specified at the FB L_MC4P_AxesGroupBasicControl .

The use of an additional instance or multiple instances of the L_MC4P_GroupSetOverride is not recommended.

		L_MC4P_AxesGroupBasicControl
AXES_GROUP_KIN	-	AxesGroup	xInternalControlActive	-	BOOL
BOOL	-	xEnableInternalControl	xError	-	BOOL
BOOL	-	xResetAxesGroup	eErrorID	-	L_IE1P_Error
BOOL	-	xRegulatorOnALL	xFunBusy	-	BOOL
BOOL	-	xEnableAxesGroup	xFunDone	-	BOOL
LREAL	-	lrOverride	xFunCommandAborted	-	BOOL
BOOL	-	xStopALL	eFunStateAct	-	L_MC4P_AGBCState
L_MC4P_AGBC_Parameter	-	scPar	xAxesGroupHomed	-	BOOL
L_MC4P_CoordSystem	-	eCoordSystem	xHWLimitSwitchANY	-	BOOL
BOOL	-	xGroupStopExecute	xSWLimitEnabledALL	-	BOOL
BOOL	-	xMoveDirAbsExecute	xSWLimitSwitchANY	-	BOOL
BOOL	-	xMoveDirRelExecute	eKinematicType	-	L_MC4P_KinematicType
BOOL	-	xMoveLinAbsExecute	eAxesGroupState	-	L_MC4P_AxesGroupState
BOOL	-	xMoveLinRelExecute	xAxesGroupEnabled	-	BOOL
ARRAY[1..12] OF LREAL	-	alrSetPosDist	xRealAxesReadyALL	-	BOOL
BOOL	-	xGroupSetPosExecute	xRealAxesEnabledALL	-	BOOL
BOOL	-	xGroupHomeExecute	xAxesGroupWarning	-	BOOL
ARRAY[1..12] OF BOOL	-	axHomeAbsSwitch	xAxesGroupError	-	BOOL
ARRAY[1..12] OF MC_TRIGGER_REF	-	ascHomeExtTP	eAxesGroupErrorID	-	L_IE1P_Error
ARRAY[1..12] OF BOOL	-	axJogPos	alrActPos	-	ARRAY[1..12] OF LREAL
ARRAY[1..12] OF BOOL	-	axJogNeg	alrActVel	-	ARRAY[1..12] OF LREAL
ARRAY[1..12] OF BOOL	-	axMoveAbs	alrSetPosOut	-	ARRAY[1..12] OF LREAL
ARRAY[1..12] OF BOOL	-	axMoveRel	alrSetVelOut	-	ARRAY[1..12] OF LREAL
ARRAY[1..18] OF L_MC1P_CtrlABC	-	ascCtrlABC	lrSetPathVelOut	-	LREAL
			alrActFollowingError	-	ARRAY[1..12] OF LREAL
			lrSetPathAccOut	-	LREAL
			lrSetTCPAccOut	-	LREAL
			lrSetRotVelOut	-	LREAL
			lrSetRotAccOut		LREAL
			ascStatusABC	-	ARRAY[1..18] OF L_MC1P_StatusABC

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	axes group reference
xEnableInternalControl BOOL	TRUE	The internal control of the axes group can be selected via the "Internal Control" button (button is visible in the visualisation).
xResetAxesGroup BOOL	TRUE	Reset error of the axes group.
xRegulatorOnALL BOOL	TRUE	Switch on all axes of the axes group.
xEnableAxesGroup BOOL	Enable/inhibit axes group for coordinated multi-axis movements Please observe the notes in the FB MC_GroupEnable
FALSE ä TRUE	Enable axes group: Execute state change from "GroupDisabled" to "GroupStandby" for the axes group. MC_GroupEnable
TRUE æ FALSE	Inhibit axes group again: Execute state change from "GroupStandby" to "GroupDisabled" for the axes group. MC_GroupDisable
lrOverride LREAL	Factor for override Applies to all coordinated multi-axis movements of the axes group and single-axis movements which are commanded via this function block. Value range: 0.0 ... 1.0 Initial value: 1.0 º 100 %
xStopALL BOOL	TRUE	Brake all axes to standstill via control-based stop. Note: The drive axes are stopped independently, synchronisations between the axes are cancelled. If required, the path is left during the stop ramp. The drive and auxiliary axes are stopped with the values parameterized in ascCtrlABC[7..18].lrStopDec and ascCtrlABC[7..18].lrStopJerk
xGroupStopExecute BOOL	FALSE ä TRUE	Brake axis group to a standstill. The relevant axes remain on the path. MC_GroupStop Note : This input is only effective when the axis group is active. Single-axis movements with the axis group deactivated are not canceled by setting the input.
ascCtrlABC ARRAY [1..18] OF L_MC1P_CtrlABC	Control input of the L_MC1P_AxisBasicControl function of the single axes Axis assignment: Index 1 ... 6: Cartesian axes X, Y, Z, A, B, C Index 7 ... 12: Drive axes A1 ... A6 Index 13 ... 18: Auxiliary axes Aux1 ... Aux6
The inputs of the different operating modes are described in the corresponding subsection.

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

xEnableInternalControl

BOOL

TRUE

The internal control of the axes group can be selected via the "Internal Control" button (button is visible in the visualisation).

xResetAxesGroup

BOOL

TRUE

Reset error of the axes group.

xRegulatorOnALL

BOOL

TRUE

Switch on all axes of the axes group.

xEnableAxesGroup

BOOL

Enable/inhibit axes group for coordinated multi-axis movements

Please observe the notes in the FB MC_GroupEnable

FALSE ä TRUE

Enable axes group: Execute state change from "GroupDisabled" to "GroupStandby" for the axes group.

MC_GroupEnable

TRUE æ FALSE

Inhibit axes group again: Execute state change from "GroupStandby" to "GroupDisabled" for the axes group.

MC_GroupDisable

lrOverride

LREAL

Factor for override

Applies to all coordinated multi-axis movements of the axes group and single-axis movements which are commanded via this function block.

Value range: 0.0 ... 1.0

Initial value: 1.0 º 100 %

xStopALL

BOOL

TRUE

Brake all axes to standstill via control-based stop.

Note:

The drive axes are stopped independently, synchronisations between the axes are cancelled. If required, the path is left during the stop ramp. The drive and auxiliary axes are stopped with the values parameterized in ascCtrlABC[7..18].lrStopDec and ascCtrlABC[7..18].lrStopJerk

xGroupStopExecute

BOOL

FALSE ä TRUE

Brake axis group to a standstill. The relevant axes remain on the path.

MC_GroupStop

Note :

This input is only effective when the axis group is active. Single-axis movements with the axis group deactivated are not canceled by setting the input.

ascCtrlABC

ARRAY [1..18] OF L_MC1P_CtrlABC

Control input of the L_MC1P_AxisBasicControl function of the single axes

Axis assignment:

Index 1 ... 6: Cartesian axes X, Y, Z, A, B, C

Index 7 ... 12: Drive axes A1 ... A6

Index 13 ... 18: Auxiliary axes Aux1 ... Aux6

The inputs of the different operating modes are described in the corresponding subsection.

Outputs

Name Data type	Value/meaning
xInternalControlActive BOOL	TRUE	The control is activated via the visualisation. (The input xEnableInternalControl is TRUE.)
xError BOOL	TRUE	An error has occurred. For details see eErrorID .
eErrorID L_IE1P_Error	If xError = TRUE: Error number for the error that has occurred.
xFuncBusy BOOL	TRUE	Processing of the activated function running.
xFunDone BOOL	TRUE	Execution of the activated function completed successfully.
xFunCommandAborted BOOL	TRUE	The activated function has been aborted by another FB.
eFunStateAct L_MC4P_AGBC_State	Current state of the FB. State machine
	0	Standby: The axes group is in the axes group state "GroupStandby" or "GroupDisabled".
	1	Stop: The axes group is braked to standstill in the "GroupStopping" axes group state.
	2	Homing (referencing)
	3	SetPosition (set home position)
	4	ManMode (manual traversing of single axes)
	5	MoveLinAbs (Linear motion to absolute position)
	6	MoveLinRel (linear motion by defined distance)
	7	MoveDirAbs (point-to-point motion to absolute position)
	8	MoveDirRel (point-to-point motion by defined distance)
	9	External: A function outside the FB generates setpoints for the axes of the axes group (e.g. MC_MoveCircularAbsolute).
	10	Service: An axis of the axes group is supervised via one of the lower-level L_MC1P_AxisBasicControl blocks.
	11	Error: The axis has the "Errorstop" axis state. Resetting the error results in an automatic changeover to "Standby".
xAxesGroupHomed BOOL
xHWLimitSwitchANY BOOL	TRUE	A hardware limit switch has been triggered for one of the axes of the axes group. For details see ascStatusABC .
xSWLimitEnabledALL BOOL	TRUE	Monitoring of the software limit positions is activated for all axes of the axes group.
xSWLimitSwitchANY BOOL	TRUE	A software limit position has been exceeded for one of the axes of the axes group. For details see ascStatusABC .
eKinematicType L_MC4P_KinematicType
eAxesGroupState L_MC4P_AxesGroup_State	Current axes group state:
	1	GroupErrorStop
	2	GroupDisabled
	3	GroupStandby
	4	GroupStopping
	5	GroupMoving
	6	GroupHoming
xAxesGroupEnabled BOOL	TRUE	axes group is switched on.
xRealAxesReadyALL BOOL	TRUE	All real drives are ready for operation.
xRealAxesEnabledALL BOOL	TRUE	All real drives are enabled.
xAxesGroupWarning BOOL	TRUE	A Warning has occurred in the axes group.
xAxesGroupError BOOL	TRUE	An error has occurred in the axes group.
eAxesGroupErrorID L_IE1P_Error	When xAxesGroupError = TRUE: Error number for the error that has occurred.
ascStatusABC ARRAY [1..18] OF L_MC1P_StatusABC	Status output of the L_MC1P_AxisBasicControl function of the single axes Axis assignment: Index 1 ... 6: Cartesian axes X, Y, Z, A, B, C Index 7 ... 12: Drive axes A1 ... A6 Index 13 ... 18: Auxiliary axes Aux1 ... Aux6
The outputs of the different operating modes are described in the corresponding subsection.

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