SMC_GroupReadSetPosition (FB)¶

FUNCTION_BLOCK SMC_GroupReadSetPosition

This function block returns the current set-position of an axis group in the selected coordinate system. Typically, this will be the set-position from the end of the previous cycle. In order to obtain the set-position from the end of the current cycle, SMC_GroupUpdate has to be called before this function block. 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 in the selected coordinate system of the axis group continuously 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 for 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.