MC_GrpSetPos

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Function Block - 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

FALSE, TRUE

N/A

No default

On the rising 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

FALSE, TRUE

N/A

No default

Request to set position:

(1) relative.
(0) absolute.

CoordSystem

SINT

Enumerated

N/A

No default

The coordinate system used when setting the positions.

Only the ACS and MCS coordinate system are supported.
See Coordinate Systems.

One of these enumeration values:

Value	Description
CS_ACS	Axes Coordinate System
CS_MCS	Machine Coordinate System
CS_PCS	Product Coordinate System

BufferMode

SINT

0, 0

N/A

No default

Unused.

Outputs

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

Remarks

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

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 1: MC_GrpSetPos

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

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