MC_RemAxisFromGrp

 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.

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.

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

Not available.

ST Language Example

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

See Also

• MC_AddAxisToGrp
• MC_ErrorDescription
• MC_UngroupAllAxes