SMC_GroupConvertPosition (FB)¶

FUNCTION_BLOCK SMC_GroupConvertPosition

Converts a position between different coordinate systems of an axis group.

If one of the coordinate systems is dynamic, the conversion between the coordinate systems is done at the time at the end of the bus task cycle.

The tool offset currently set in the axis group is used, not the tool offset of the active movement. This can be overriden by the inputs UseToolOffsetParameter and ToolOffset.

Note

the coordinate system used is not necessarily the one of the currently active movement. It is always the coordinate system that would be used for new movements.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axes
Inout Const	`PositionIn`	SMC_POS_REF	In: Position to be converted
Input	`Enable`	`BOOL`	Converts the position while enabled
	`CoordSystemIn`	SMC_COORD_SYSTEM	Coordinate system of `PositionIn`
	`CoordSystemOut`	SMC_COORD_SYSTEM	Coordinate system of `PositionOut`
	`aRef`	`TRAFO.AXISPOS_REF`	The reference position of the axes. Only used if `CoordSystemOut` = `ACS` and `CoordSystemIn` <> `ACS`.
	`config`	`TRAFO.CONFIGDATA`	The kinematic configuration. Only used if `CoordSystemOut` = `ACS` and `CoordSystemIn` <> `ACS`.
	`UseToolOffsetParameter`	`BOOL`	Whether to use the `ToolOffset` parameter. If set to FALSE, the last tool offset set by SMC_GroupSetTool is used.
	`ToolOffset`	MC_COORD_REF	The tool offset used for converting the position.
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
	`PositionOut`	SMC_POS_REF	The position converted to coordinate system `CoordSystemOut`
	`configOut`	`TRAFO.CONFIGDATA`	The kinematic configuration that belongs to a cartesian position. The configuration is calculated when an axis position gets converted to a cartesian position, i.e. `CoordSystemIn` = `ACS` and `CoordSystemOut` <> `ACS`. Otherwise, the given `config` is returned. For rotary axes with multiple periods, `configOut` contains the periods determined by the axis positions. Automatic period selection can be enabled using SMC_KinConfigActivateAutomaticPeriods.