MC_RemAxisFromGrp

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Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Removes an individual axis from an axis group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to remove an axis from the group.
AxesGroupRef	AXES_GROUP_REF	No range	N/A	No default	The axis group from which the axis is removed.
IdentInGroup	UINT	0, MaxNumberOfAxes - 1	N/A	No default	The zero-based index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. of the axis in the group. The axis index in the group must contain a valid axis. The index must be less than the maximum number of axes the group can contain. `MaxNumberOfAxes` is a property of the axes group and is set when the group is created.

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

0, 1

N/A

No default

On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to remove an axis from the group.

AxesGroupRef

AXES_GROUP_REF

No range

N/A

No default

The axis group from which the axis is removed.

IdentInGroup

UINT

0, MaxNumberOfAxes - 1

N/A

No default

The zero-based index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. of the axis in the group.

The axis index in the group must contain a valid axis.
The index must be less than the maximum number of axes the group can contain.
MaxNumberOfAxes is a property of the axes group and is set when the group is created.

Outputs

Output	Data Type	Description
Done	BOOL	If TRUE, the command completed successfully.
Error	BOOL	If TRUE, an error has occurred.
ErrorID	INT	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Done

BOOL

If TRUE, the command completed successfully.

Error

BOOL

If TRUE, an error has occurred.

ErrorID

INT

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

See Coordinated Motion, the top-level topic for Coordinated Motion.
This function or function block does not generate any motion.
This function block can be issued in the group states: (GroupDisabled, GroupStandby, or GroupErrorStop).
- The group’s state changes to GroupDisabled if the axis removed is the last valid axis in the group.
MC_RemAxisFromGrp fails if the group is in any state other than GroupStandby or GroupDisabled.
- See Group State Diagrams.

Figure 1: MC_RemAxisFromGrp

FBD Language Example

FFLD Language Example

IL Language Example

            BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
            
     CAL Inst_MC_RemAxisFromGrp( ExecuteRemAxisFromGrp, Group1_Ref, AxisId )
END_IL

ST Language Example

(* Inst_MC_InitAxisGrpST example *)
Inst_MC_RemAxisFromGrp( ExecuteRemAxisFromGrp, Group1_Ref, AxisId );