MC_GrpSetPos

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Sets the axis command position for all of the axes in an axes group to the positions specified in the Position input.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A 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.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axis group to set the positions.
Position[]	LREAL	0, Number of axes in group-1	N/A	No default	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.
Relative	BOOL	0, 1	N/A	No default	Request to set position: (1) relative. (0) absolute.
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 setting the positions. Currently, only the ACS coordinate system is supported. See Coordinate Systems for more information.
BufferMode	SINT	0, 0	N/A	No default	Currently unused.

Outputs

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

Remarks

• 
  
• This function block starts a motion-related action and stores data for calculations and error checking.
  See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

• This function or function block does not generate any motion.
• See Coordinated Motion, the top-level topic for Coordinated Motion.
• The axes group must be enabled and in Standby mode for MC_GrpSetPos to execute.
  • If it is not, this FB returns an error and the axis positions remains unchanged.
  • The command position is that returned by the FB MC_GrpReadCmdPos.

Figure 6-154: MC_GrpSetPos

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_GrpSetPos( DoSetPos, Group1, PositionArray, Relative, MC_COORDINATE_SYSTEM_ACS, BufferMode);
END_IL

ST Language Example

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

See Also

• MC_ErrorDescription
• MC_GrpReadCmdPos