MC_SetPos

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Function Block - Changes the present actual position of the axis (as reported by MC_ReadActPos) to the position specified by the Position and Mode inputs.

See Function Blocks - General Rules about how inputs and outputs work.
If a motor is associated with the axis, it does not move when MC_SetPos is executed.
- MC_SetPos does not cause any motion.
- It applies an offset to the command and actual positions.
MC_SetPos sets the accumulated Superimposed distance value for the input axis to 0 (zero).
- See Axis Positions Data.
This function block replaces MC_SetPosition.

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

- This function block starts a motion-related action and stores data for calculations and error checking.
- If using a dual-core controller, see Program a Multi-Core Controller.

Inputs

Input	Data Type See Data Types.	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to queue the change to the axis position.
Axis	AXIS_REF	1 to 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number. See AXIS_REF Structure.
Position	LREAL	No range	N/A	No default	Absolute Mode: New Axis Position to replace the present position. Relative Mode: Position offset to apply to present position. Typically used with multi-turn absolute position feedback devices.
Mode	BOOL	FALSE, TRUE	N/A	No default	LOW = Position input is an absolute position. HIGH = Position input is a relative position

Outputs

Output	Data Type See Data Types.	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	Indicates the reference move and position adjustment is complete.
Busy	BOOL	FALSE, TRUE	N/A	Indicates this function block is executing.
Error	BOOL	FALSE, TRUE	N/A	Indicates either: An invalid input was specified. The move was terminated due to an error.
ErrorID	INT	-32768 to +32767		Indicates the error if Error output is high. See PLCopen Function Block ErrorIDs.

FBD Language Example

Not available.

FFLD Language Example

- This function block finishes immediately.
  - Because of this, the Done output does not get set to FALSE in a second call to the same MC_SetPos instance unless there is an error.
- If the application needs to look for a state change to determine if a particular call to MC_SetPos was successful, then use AND for the rising edge of the Execute input, the Done output, and the inverse of the Error output.
- This FFLD Language example shows how this can be done.
  In the example, the SetPosSuccessful variable is set to TRUE for one cycle upon a successful call to the MC_SetPos instance.

IL Language Example

Not available.

ST Language Example

            (* MC_SetPos ST example *)
            
Inst_MC_SetPos ( Axis1 , 0, 0 );
//Inst_MC_SetPos is an instance of MC_SetPos function

(* MC_SetPos absolute mode example: Set position value to zero. *)
Inst_MC_SetPos ( Axis1 , 0, 0 );
//Inst_MC_SetPos is an instance of MC_SetPos function

(* MC_SetPos relative mode example: Increase position value by 1000. *)
Inst_MC_SetPos ( Axis1 , 1000, 1 );
//Inst_MC_SetPos is an instance of MC_SetPos function