The TSX CSY 84/164 modules use the concept of the group to command axes. Any action on a group of axes entails an identical action on the member axes in the group.
All MovementGroups have their own MovementControl command interfaces.
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the MovementControl interface for an individual axis always acts on that axis.
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the MovementControl interface for the SERCOS® ring acts on all of the MovementGroup axes on the string.
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the MovementControl interface for Coordinated Groups or Slave Groups are only in effect if the MovementGroup is controlled (Get).
The position control of control bits in these registers causes the corresponding action to occur for a set of axes, rather than a single axis.
The MovementGroup scans the MovementControl interface every SERCOS® clock cycle. Consequent changes to a control bit must be separated by at least one SERCOS® clock cycle. In general, the MovementStatus register for a MovementGroup should be examined to determine whether a control bit's action was successful.
Configuration Example on the TSX CSY 84 Module
Suppose that the following groups have been defined at configuration
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Channel 0: SERCOS® group
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Channel 21: group of slave axes 21, comprising real axes 1 and 2,
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Channel 17: group of coordinated axes 17, comprising real axes 1 and 3.
Any action on the Network channel (channel 0) affects groups 17 and 21, and real axes 1, 2 and 3.
Any action on the group of slave axes (channel 21) affects real axes 1 and 2.
Any action on the group of coordinated axes (channel 17) affects real axes 1 and 3.
NOTE: In order to use a real axis, this rule requires that the allow bits of the SERCOS® group (channel 0) are set to 1.
