MC_GrpSetPos

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Sets the axis 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. for all of the axes in an axes group to the positions specified in the Position input.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to set the position of the group.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axis group to set the positions.
Position[]	LREAL	0, Number of axes in group-1	N/A	No default	An array containing the position for each axis in the group. If Relative is set, position represents a distance rather than an absolute position. The length of the array must equal the maximum number of axes allowed in the group. The maximum number of axes is an argument to MC_CreateAxesGrp, which is used to create axes groups.
Relative	BOOL	0, 1	N/A	No default	Request to set position: (1) relative. (0) absolute.
CoordSystem	SINT	One of these enumeration values: MC_COORDINATE SYSTEM The reference system in which a coordinate or path is described._ACS Axes Coordinate System - The system of coordinates related to the physical motors and the single movements caused by the single drives. = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS Product Coordinate System or Program Coordinate System. The PCS is based on the MCS by shifting and maybe rotating the MCS. The Zero point of the PCS is related to the product and can be changed during runtime by the program. The real work piece can have a rotation or shift to the MCS coordinate system or even might be moving relative to the MCS coordinate system. By specifying a trajectory in PCS one is able to describe the trajectory independent from the machine situation. To map these two worlds (MCS to PCS and vice versa), a Cartesian or cylindrical transformation is normally done. = 2	N/A	No default	The coordinate system used when setting the positions. Currently, only the ACS coordinate system is supported. See Coordinate Systems.
BufferMode	SINT	0, 0	N/A	No default	Currently unused.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL			If TRUE, the command completed successfully.
Busy	BOOL			Currently unused. Returns FALSE.
CommandAborted	BOOL			Currently unused. Returns FALSE.
Error	BOOL			If TRUE, an error has occurred.
ErrorID	INT			Indicates the error if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• 
  
• This function block starts a motion-related action and stores data for calculations and error checking.
  See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

• This function or function block does not generate any motion.
• See Coordinated Motion, the top-level topic for Coordinated Motion.
• The axes group must be enabled Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. and in Standby mode for MC_GrpSetPos to execute.
  • If it is not, this FB returns an error and the axis positions remains unchanged.
  • The command position is that returned by the FB MC_GrpReadCmdPos.

Figure 1: MC_GrpSetPos

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_GrpSetPos( DoSetPos, Group1, PositionArray, Relative, MC_COORDINATE_SYSTEM_ACS, BufferMode);
END_IL

ST Language Example

Inst_MC_GrpSetPos( DoSetPos, Group1, PositionArray, Relative, MC_COORDINATE_SYSTEM_ACS, 0 );  

See Also

• MC_ErrorDescription
• MC_GrpReadCmdPos