Axes Group; Relevant Variables/Fbs - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.5

Axes Group

Axes group is used for multiple axes control such as linear interpolation control and 3D linear interpolation control, etc. This
section describes an overview of axes group.
The maximum setting number of axes groups depends on the memory. If an axes group cannot be set for memory shortage,
the error "Over Maximum Number of Registrations for Axis Group" (error code: 1A60H) will occur. The maximum number of
configuration axes of the axes group to be registered is 16.

Relevant variables/FBs

Variable/Structure name
AxesGroupName.AxesGroupRef.
GroupNo
AxesGroupName.GROUP.Pr.
Axis[1..16]
AxesGroupName.Md.
GroupStatus
GroupName
Axis[1..16]
MC_GroupEnable
Item Description
Function overview Transits specified axes group status from "0: GroupDisabled" to "4: GroupStandby".
Symbol
[Structured Ladder]
Applicable hardware and RD78G(H) (Structured Text)
software (Language)
Number of input area points
(byte)
9
■Function description
This FB transits the axes group status (AxesGroupName.Md.GroupStatus) of the AXES_GROUP_REF structure from "0:
GroupDisabled" to "4: GroupStandby".
The FB is executed when Execute is TRUE, and Busy turns TRUE when the processing is normally started.
Done is TRUE and Busy is FALSE when the processing is normally completed.
When an error has occurred in the FB, this FB turns TRUE Error and stores an error code in ErrorID.
For details of error codes, refer to the following.
Page 534 List of Error Codes
For axes group status (AxesGroupName.Md.GroupStatus), refer to the following.
Page 56 Axes group state transition
Name
Axes group No.
Configuration axis
Axes group status
Axes group name
Configuration axis
MC_GroupEnable
DUT : AxesGroup
B : Execute
Number of output area points
(byte)
5
Details
Sets axes group No. in the motion system.
0: Not set
1 and later: Setting axes group No.
Sets AxisRef (axis No.) of the axis which configures the axes
group.
Displays the current axes group status.
0: GroupDisabled (Axes group disabled)
1: GroupErrorStop (Error stop)
2: GroupStopping (Deceleration stop)
4: GroupStandby (Standby)
5: GroupMoving (Operation)
Stores the axes group name.
Sets AxisRef (axis No.) of the axis which configures the axes
group.
AxesGroup : DUT
Done : B
Busy : B
Error : B
ErrorID : UW
Compiling method
Subroutine type
FB operation type
Real-time execution
1 AXIS SETTING
1.5 Axes Group
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