MC_GrpReadCmdPos
Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Reads the command position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. of the axes in the group.
Inputs
Outputs
Output |
Data Type |
Range |
Unit |
Description |
---|---|---|---|---|
Valid |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the positions have been read without error. |
Error |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, an error has occurred. |
ErrorID |
INT |
No range |
N/A |
Indicates the error if Error output is TRUE. |
Remarks
-
-
This function or function block returns cached data.
See Program a Multi-Core Controller.
- See Coordinated Motion, the top-level topic for Coordinated Motion.
- See Function Blocks - General Rules about how inputs and outputs work.
- The MC_GrpReadCmdPos function block fills the array (specified by the
Position
argument) with the commanded position of the coordinate system specified by theCoordSystem
argument. - This function or function block does not generate any motion.
-
-
Only the ACS coordinate system is supported.
See Coordinate Systems.
- There is a one-to-one correspondence between the axes in the Axes Group and the position values in the Position Array.
- Each element in the Position Array corresponds to the axis element in the Axis Group array.
- If an index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. in the Axes Group is unassigned, the position value for that array element in the Position Array is 0 (zero).
- If the element does contain an axis, the position value is filled with the current actual position for that axis.
Figure 1: MC_GrpReadCmdPos
FBD Language Example
FFLD Language Example
IL Language Example
BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
CAL Inst_MC_GrpReadCmdPos( DoRead, Group, CoordSys, PosList )
END_IL
ST Language Example
(*MC_GrpReadCmdPos ST Structured text - A high-level language that is block structured and syntactically resembles Pascal. example *)
Inst_MC_GrpReadCmdPos(DoRead, Group, CoordSys, PosList );
See Also