MC_RemAxisFromGrp
MC_RemAxisFromGrpMC_RemAxisFromGrp removes a single axis from a group. This function block can be issued in the group states: (GroupDisabled, GroupStandby, or GroupErrorStop). The group’s state will change to GroupDisabled if the axis removed is the last valid axis in the group. This function block does not cause any motion.
MC_RemAxisFromGrp will fail if the group is in any state other than GroupStandby or GroupDisabled.
Refer to Group State Diagrams for details.
Figure 11-163: MC_RemAxisFromGrp
MC_AddAxisToGrp, MC_UngroupAllAxes, MC_ErrorDescription
Coordinated Motion, the top-level topic for Coordinated Motion.
| Execute | Description | On the rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to remove an axis from the group |
| Data type | BOOL | |
| Range | 0, 1 | |
| Unit | n/a | |
| Default | — | |
| AxesGroupRef | Description | The axis group from which the axis will be removed |
| Data type | AXIS_GROUP_REF | |
| Range | n/a | |
| Unit | n/a | |
| Default | — | |
| IdentInGroup | Description |
The zero-based index of the axis in the group.
|
| Data type | UINT | |
| Range | [0, MaxNumberOfAxes - 1] | |
| Unit | n/a | |
| Default | — |
| Done | Description | If True, then the command completed successfully. |
| Data type | BOOL | |
| Error | Description | If True, an error has occurred. |
| Data type | BOOL | |
| ErrorID | Description | Indicates the error identifier if Error output is set to True. See the table in PLCopen Function Block ErrorID Output. |
| Data type | INT |
(* Inst_MC_InitAxisGrpST example *)
Inst_MC_RemAxisFromGrp( ExecuteRemAxisFromGrp, Group1_Ref, AxisId );
BEGIN_IL"Instruction list" This is a low-level language and resembles assembly
CAL Inst_MC_RemAxisFromGrp( ExecuteRemAxisFromGrp, Group1_Ref, AxisId )
END_IL
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