MC_RemoveAxisFromGroup
TF5410 | TF5420 | |
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| MC Group with Pick-and-Place | MC Group Coordinated Motion |
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The function block MC_RemoveAxisFromGroup removes an axis from the axis group.
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). |
Axes can only be added to an MC group if EnableRequested is FALSE, e.g. in the GroupDisabled state. |
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. |
Inputs
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. |
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. |
Inputs/outputs
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). |
Outputs
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 platform | PLC libraries |
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TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |