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
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
Applicable coordinate system
Output
Valid
BOOL
TRUE
if valid outputs are availableBusy
BOOL
The FB is not finished
Error
BOOL
Signals that an error has occurred within the function block
ErrorID
SMC_ERROR
Error identification
Position
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.