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 7-168: MC_RemAxisFromGrp
Related Functions
MC_AddAxisToGrp, MC_UngroupAllAxes, MC_ErrorDescription
Coordinated Motion, the top-level topic for Coordinated Motion.
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- 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.
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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