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.

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

  • 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.

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