MC_RemAxisFromGrp

Description

MC_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.

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• MC_RemAxisFromGrp will fail if the group is in any state other than GroupStandby or GroupDisabled.

  Refer to Group State Diagrams for details.

Figure 7-161: MC_RemAxisFromGrp

Related Functions

MC_AddAxisToGrp, MC_UngroupAllAxes, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

• 
  
• This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

Input

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. 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.
	Data type	UINT
	Range	[0, MaxNumberOfAxes - 1]
	Unit	n/a
	Default	—

Output

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

Example

ST

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

IL

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

FBD

FFLD

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