MC_GroupReadActualPosition (FB)¶

FUNCTION_BLOCK MC_GroupReadActualPosition

This function block returns the current position of an axis group 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 position of the axis group in the selected coordinate system while enabled
Input	`CoordSystem`	SMC_COORD_SYSTEM	Applicable coordinate system
Output	`Valid`	`BOOL`	`TRUE` if valid outputs are available
	`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	Current position of the group
	`KinematicConfig`	`TRAFO.CONFIGDATA`	Kinematic configuration of current position. Only set if the coordinate system is cartesian (i.e. not set in case ACS). Automatic periods are activated for any rotary axis with multiple periods. See SMC_KinConfigActivateAutomaticPeriods for more information. A kinematic configuration without automatic periods can be obtained by reading an ACS position and converting it to the MCS using SMC_GroupConvertPosition.