MC_ReadActPos

PLCopen motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Reads the actual 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 axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable 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.	BOOL	FALSE, TRUE	N/A	No default	Request to read the axis's actual position. Keeps continuously reading the actual position every PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. cycle, as long as the Enable remains high.
Axis	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.

Input

Data Type

Range

Unit

Default

Description

Enable 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.

BOOL

FALSE, TRUE

N/A

No default

Request to read the axis's actual position.

Keeps continuously reading the actual position every PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. cycle, as long as the Enable remains high.

Axis

AXIS_REF

1, 256

N/A

No default

Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances..

See Axis Name and Number.
See AXIS_REF Structure.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	Indicates the value at the Position output is available.
Busy	BOOL	FALSE, TRUE	N/A	Indicates this function block is executing.
Error	BOOL	FALSE, TRUE	N/A	Indicates an invalid input was specified.
ErrorID	INT	-32768 to +32767		Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.
Position	LREAL		User units	Actual position of the axis.

Remarks

This function or function block returns cached data.
See Program a Multi-Core Controller.

See Function Blocks - General Rules about how inputs and outputs work.

Figure 1: MC_ReadActPos

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_ReadActPos S
            T example *)
Inst_MC_ReadActPos( TRUE, Axis1 );
//Inst_MC_ReadActPos is an instance of MC_ReadActPos function block

ActualPos := Inst_MC_ReadActPos.Position; 
//store Position output into a user defined variable