MC_GrpReadActPos

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

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable	BOOL	0, 1	N/A	No default	If TRUE, this function block reads the current actual position of the axes in the group.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group the actual position is read from.
CoordSystem	SINT	One of these enumeration values: MC_COORDINATE_SYSTEM_ACS = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS = 2	N/A	No default	The coordinate system used when reading the actual position.
Position[]	LREAL	No range	User units	No default	An array where the position data is written. 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 the MC_CreateAxesGrp function block used to create axes groups.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	No range	N/A	If TRUE, the positions have been read without error.
Error	BOOL	No range	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See the table in PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Valid

BOOL

No range

N/A

If TRUE, the positions have been read without error.

Error

BOOL

No range

N/A

If TRUE, an error has occurred.

ErrorID

INT

No range

N/A

Indicates the error if Error output is TRUE.

See the table in PLCopen Function Block ErrorIDs.

Remarks

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

See Coordinated Motion, the top-level topic for Coordinated Motion.
See Function Blocks - General Rules for more information about how inputs and outputs work.
The MC_GrpReadActPos function block fills the array specified by the Position argument with the actual position of the system in the coordinate system specified by the CoordSystem argument.
This function or function block does not generate any motion.

Currently, only the ACS coordinate system is supported.
See Coordinate Systems for more information.

There is a one-to-one correspondence between the axes in the Axes Group and the position values in the Position Array.
Each element in the Position Array corresponds to the axis element in the Axis Group array.
If an index in the Axes Group is unassigned, the position value for that array element in the Position Array is 0 (zero).
If the element does contain an axis, the position value is filled with the current actual position for that axis.
- This is an example of how this works:

Figure 6-140: MC_GrpReadActPos

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_GrpReadActPos( DoRead, Group, CoordSys, PosList )
END_IL

ST Language Example

Inst_MC_GrpReadActPos( DoRead, Group, CoordSys, PosList );