Chapter 6 Motion Function Blocks
6.3.12 Setting the current position (MC_SetPosition)
MC_SetPosition
AxisAxis
Execute Done
UINTUINT
BOOL BOOL
LREAL Position
BOOL Relative
Busy BOOL
Error BOOL
ErrorID WORD
UINT ExcutionMode
CommandAborted BOOL
Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis)
Specify the current position of the relevant axis in the rising Edge.
0: Position value=Absolute position, 1: Position value=Relative position
UINT ExecuteMode
0: Immediately applied the position value,
1: Applied at the same point with ‘Buffered’ of Buffermode
Indicate the state of motion function block completion.
Indicate that the execution of motion function block is not completed.
Indicate that the current motion function block is interrupted while it is running.
Indicate whether an error occurs or not.
Output the number of error occurred while motion function block is running.
(1) This motion function block is to set the current position of the relevant axis.
(2) Specify the position in Position input. When executing motion function block, if Relative input is Off, the position of the
relevant axis is replaced by the value of Position input, and if Relative input is On, the value of Position input is added to the
current position of the relevant axis.
(3) ExcutionMode input specifies the setting point. 0 means to be set immediately after motion function block, and 1 means to
be set at the same point with ‘Buffered’ in sequential operation setting. The value unable to be set causes "error0x101B”.
0 (mcImmediately): Change the parameter value immediately after executing function block (rising Edge in Execute input).
If the relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (Refer to 6.1.4 Buffermode input)
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