MC_GrpReadCmdPos

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 Function Block - Reads the command position of the axes in the group.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

If TRUE, this function block reads the current commanded position of the axes in the group.

AxesGroup

AXES_GROUP_REF

No range

N/A

No default

The axes group the commanded position is read from.

CoordSystem

SINT

Enumerated

N/A

No default

The coordinate system used when reading the commanded position.

One of these enumeration values:

Value

Description

CS_ACS

Axes Coordinate System

CS_MCS

Machine Coordinate System

CS_PCS

Product Coordinate System

Position

LREAL[ ]

Dimension: The number of axes in the AxesGroup.

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

FALSE, TRUE

N/A

If TRUE, the positions have been read without error.

Error

BOOL

FALSE, TRUE

N/A

If TRUE, an error has occurred.

ErrorID

INT

No range

N/A

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

Remarks

  • See Coordinated Motion, the top-level topic for Coordinated Motion.
  • See Function Blocks - General Rules about how inputs and outputs work.
  • The MC_GrpReadCmdPos function block fills the array (specified by the Position argument) with the commanded position of the coordinate system specified by the CoordSystem argument.
  • This function or function block does not generate any motion.
  • 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 1: MC_GrpReadCmdPos

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (*MC_GrpReadCmdPos ST example *)
Inst_MC_GrpReadCmdPos(DoRead, Group, CoordSys, PosList );

See Also