Chapter 9: Group Configuration
In addition to control a single axis, you can control an axis group. Just like we configure a single axis in Chapter 4: Axis Configuration, you need to configure and enable an axis group before use it. Since the group contains several axes, the limitation of the motion profile of a single axis restrains a group's motion.
An axis can be added to more than one group, but only one of these groups can be enabled at a time. An error arising from one axis gets the whole group into the alarm state. To prevent this, you can reset an axis before you add it to a group, or reset a group after you enable it.
In this chapter, you'll learn how to add, remove axes from a group, and enable, disable a group.
Add a header and .cpp file
You need to add a header and a .cpp file to learn the code of this chapter. The steps of adding them are written in Chapter 2 > Add a header and .cpp file.
- Add a header file:
- Add a .cpp file:
In Solution Explorer, in Header Files, add a header file and name it "GroupConfiguration.h."
In Solution Explorer, in Source Files, add a C++ file and name it "GroupConfiguration.cpp."
Tutorials
Take the following steps to complete the training:
- Add an axis to a group
- Remove an axis from a group
- Enable a group
- Disable a group
- Remove a group
- Get the state of a group
- Group motion profile
- Coordinate transformation
- Check which axes are added to a group