MC_RemAxisFromGrp

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Function Block - Removes an individual axis from an axis group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising 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 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

FALSE, TRUE

N/A

No default

On the rising 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 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	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	Enumerated	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

If TRUE, the command completed successfully.

Error

BOOL

FALSE, TRUE

N/A

If TRUE, an error has occurred.

ErrorID

INT

Enumerated

N/A

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.
If using a dual-core controller, see Call Function Blocks Multiple Times in the Same Cycle.

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
            
     CAL Inst_MC_RemAxisFromGrp( ExecuteRemAxisFromGrp, Group1_Ref, AxisId )
END_IL

ST Language Example

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