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.


Take the following steps to complete the training:

Complete code


Group Configuration functions