MC_RemoveAxisFromGroup

MC_RemoveAxisFromGroup 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_RemoveAxisFromGroup 2:

MC_RemoveAxisFromGroup 3:

MC_RemoveAxisFromGroup 4:

This function block removes an axis from the axis group.

MC_RemoveAxisFromGroup 5:

From TF5400 V3.1.10.1, stationary axes can be added to and removed from a CA group in the GroupMoving group state. If a moving axis is added to a group, the command is rejected with an error message (a change of the group state with a moving axis is also rejected).

MC_RemoveAxisFromGroup 6:

Axes can only be added to an MC group if EnableRequested is FALSE, e.g. in the GroupDisabled state.

MC_RemoveAxisFromGroup 7:

Success of the function block

The function block always returns DONE if the axis no longer belongs to the group. This means that DONE is returned even if the axis was not in the group before the function block was called.

MC_RemoveAxisFromGroup 8: VAR_INPUT

VAR_INPUT
    Execute               : BOOL;
    IdentInGroup          : IDENT_IN_GROUP_REF; 
END_VAR

Name

Type

Description

Execute

BOOL

The command is triggered by a rising edge at this input.

IdentInGroup

IDENT_IN_GROUP_REF

Defines the interpretation of the axis to be added to the group. For multidimensional motions, this can be the Cartesian interpretation. The global variables (e.g. MCS_X) must be used. For Collision Avoidance the function UDINT_TO_IDENTINGROUP must be used.

MC_RemoveAxisFromGroup 9:

Use of integer values for the input IdentInGroup

The use of integer values for the input IdentInGroup is NOT supported and may lead to incompatibility with future releases. If integer values are used, it may no longer be possible to build the project. We recommend using global variables (e.g. MCS_X) or the conversion function UDINT_TO_IDENTINGROUP.

MC_RemoveAxisFromGroup 10: MC_RemoveAxisFromGroup 11: VAR_IN_OUT

VAR_IN_OUT
   AxesGroup             : AXES_GROUP_REF; 
END_VAR

Name

Type

Description

AxesGroup

AXES_GROUP_REF

Reference to a group of axes (see Cyclic group interface).

MC_RemoveAxisFromGroup 12: VAR_OUTPUT

VAR_OUTPUT
    Done                  : BOOL;
    Busy                  : BOOL;
    Error                 : BOOL;
    ErrorId               : UDINT;
END_VAR

Name

Type

Description

Done

BOOL

This output becomes TRUE when the command was successfully executed.

Busy

BOOL

This output becomes TRUE when the command is started with Execute and remains so as long as the function block executes the command. If Busy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs Done, CommandAborted (if available) or Error is set.

Error

BOOL

This output becomes TRUE if an error has occurred during command execution.

ErrorId

UDINT

Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development environment

Target system type

PLC libraries to be linked

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x86 or x64)

Tc3_McCoordinatedMotion, Tc2_MC2