MC_GroupReadActualPosition
FUNCTION_BLOCK MC_GroupReadActualPosition
This function block provides a convenient way of reading the current position of the selected Tool Center Point in the selected user frame.
 | It shall be noticed that this function block may change briefly the value of the following members of the robot data block |
Syntax
Definition:
FUNCTION_BLOCK MC_GroupReadActualPosition
VAR_INPUT
Enable : BOOL := FALSE;
Tool : UINT := 0;
CoordSystem : UINT := 0;
END_VAR
VAR_OUTPUT
Valid : BOOL := FALSE;
Busy : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
Position : T_CartesianPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Enable | BOOL | TRUE = Enable the execution of the function block |
Tool | UINT | Number of the Tool for which position is reported |
CoordSystem | UINT | Number of the user frame in which the position of selected Tool Center Point is reported |
Outputs
Name | Type | Description |
|---|---|---|
Valid | BOOL | TRUE = A valid set of data are available. |
Busy | BOOL | TRUE = function block is proceeding... |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
Position | Current cartesian position of the selected Tool in the selected user frame |