MC_GroupReadActualPos
This Function Block returns the actual position of an AxesGroup in the requested coordinate system.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable |
BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| E | CoordSystem | MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. |
MC_CoordinateSystem#ACS |
| VAR_OUTPUT | ||||
| B | Valid |
BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| E | Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
| E | Position | VECTOR | An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities. |
|
Notes
- The groups actual position is also available in the AXES_GROUP_REF.
Error Description
See the Function Block ErrorID List.
Example 1
Consider an application where two groups work in the same area. Assume Y_GroupSetFrameOffset was used to set the offset between MCS and WCS. MC_ReadGroupActualPos reports the TCP position with respect to the specified coordinate system.
