MC_ReadTrackPositions

The function block MC_ReadTrackPositions returns the current XTS track and XTS part target positions with the corresponding object IDs. The axis must be in a CA group for the function block to supply valid values. If no track is activated for the axis, the current absolute setpoints are returned with TrackId/PartId = 0.

Inputs

VAR_INPUT
    Enable : BOOL;
END_VAR

Name	Type	Description
Enable	BOOL	The command is executed as long as Enable is active.

Inputs/outputs

VAR_IN_OUT
    Axis                  : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Reference to an axis (see AXIS_REF).

Outputs

VAR_OUTPUT
    Valid                 : BOOL;
    Busy                  : BOOL;
    TrackPosition         : LREAL;
    TrackId               : OTCID;
    PartPosition          : LREAL;
    PartId                : OTCID;
    Error                 : BOOL;
    ErrorId               : UDINT;
END_VAR

Name	Type	Description
Valid	BOOL	This output indicates that other output values are valid for this function block.
Busy	BOOL	This output becomes `TRUE` when the command is started with `Execute` and remains so as long as the function block executes the command. If `Busy` becomes `FALSE` again, the function block is ready for a new command. At the same time, one of the outputs `Done`, `CommandAborted` or `Error` is set.
TrackPosition	LREAL	Position in the active track reference system.
TrackId	OTCID	Object ID of the active track reference system.
PartPosition	LREAL	Position on the current XTS part.
PartId	OTCID	Object ID of the current XTS part.
Error	BOOL	This output becomes `TRUE` if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4024.7 TF5400 Advanced Motion Pack V3.1.10.1	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries to include

TwinCAT V3.1.4024.7

TF5400 Advanced Motion Pack V3.1.10.1

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2