MC_GrpSetPos

Description

MC_GrpSetPos sets the axis command position for all of the axes in an axes group to the positions specified in the Position input. This function block does not cause any motion. The axes group must be enabled and in Standby mode for MC_GrpSetPos to execute. If it is not, this FB will return an error and the axis positions will remain unchanged. The command position is that returned by the Function BlockA function block groups an algorithm and a set of private data. It has inputs and outputs. MC_GrpReadCmdPos.

Figure 7-179: MC_GrpSetPos

This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Related Functions

MC_ErrorDescription, MC_GrpReadCmdPos

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

Input

Execute	Description	On the rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to set the position of the group
	Data Type	BOOL
	Range	0, 1
	Unit	n/a
	Default	—
AxesGroup	Description	The axis group for which to set the positions
	Data Type	AXIS_GROUP_REF
	Range	n/a
	Unit	n/a
	Default	—
Position[]	Description	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.
	Data Type	LREAL
	Range	[0, Number of axes in group-1]
	Unit	n/a
	Default	—
Relative	Description	Request to set relative (1) or absolute (0) position
	Data Type	BOOL
	Range	1, 0
	Unit	n/a
	Default	—
CoordSystem	Description	The coordinate system used when setting the positions.
	Data Type	SINT
	Range	One of the following enumeration values: MC_COORDINATE_SYSTEM_ACS = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS = 2 Currently, only the ACS coordinate system is supported. See Coordinate Systems for more information.
	Unit	n/a
	Default	—
BufferMode	Description	Currently unused
	Data Type	SINT
	Range	[0, 0]
	Unit	n/a
	Default	—

Output

Done	Description	If True, then the command completed successfully.
	Data Type	BOOL
Busy	Description	Currently unused, returns FALSE
	Data Type	BOOL
CommandAborted	Description	Currently unused, returns FALSE
	Data Type	BOOL
Error	Description	If True, an error has occurred.
	Data Type	BOOL
ErrorID	Description	Indicates the error identifier if Error output is set to TRUE. See the table in PLCopen Function Block ErrorID Output.
	Data Type	INT

Example

ST

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

FBD

IL

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