Function BlockMC_GrpSetPosPLCopen motion iconPipe Network motion icon

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 BlockClosedA function block groups an algorithm and a set of private data. It has inputs and outputs. MC_GrpReadCmdPos.

Figure 7-179: MC_GrpSetPos

Related Functions

MC_ErrorDescription, MC_GrpReadCmdPos

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

Arguments

Input

Execute Description On the rising edgeClosedA 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_ILClosed"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

FFLD