SMC_GroupReadSetPosition (FB)ΒΆ

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

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.