SMC_GroupTargetPosition (FB)¶

FUNCTION_BLOCK SMC_GroupTargetPosition

This function block returns the commanded target position of an axis group in the selected coordinate system.

There are several reasons why the output Valid may be FALSE:

• The last commanded movement is relative and its start-position is not known yet (e.g. because there is a tracking-movement before).

• The last commanded movement is a halt / stop and has not been processed yet.

• The last commanded movement is not processed yet, CoordSystem = ACS and the movement’s coordinate system is different from ACS.

By „processing“ we mean an internal method that is called for at most one movement per cycle, and only if its start-position is known.

Valid and not Stable means that the target position moves in the selected coordinate system.

This is an administrative FB, since no movement is generated.

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	Enable	BOOL	Get the commanded target position in the selected coordinate system of the axis group continuously while enabled
	CoordSystem	SMC_COORD_SYSTEM	Applicable coordinate system
Output	Valid	BOOL	TRUE if valid outputs are available
	Stable	BOOL	TRUE if the outputs won’t change until commanding a new movement
	Busy	BOOL	The FB is not finished
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification
	Position	SMC_POS_REF	Target position of the group
	KinematicConfig	TRAFO.CONFIGDATA	Kinematic configuration of the target position. Only set if the coordinate system is cartesian (i.e. not set for ACS)