Omron Sysmac NY-series User Manual

MC_GroupReadPosition
The MC_GroupReadPosition instruction gets the command current positions and the actual current
positions of an axes group.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_GroupRead-
Position
Read Axes
Group Posi-
tion
FB
MC_GroupReadPosition_instance
AxesGroup AxesGroup
Enable Valid
CoordSystem
CommandPosition
ActualPosition
ErrorID
MC_GroupReadPosition
Busy
Error
MC_GroupReadPosition_instance
(
AxesGroup :=parameter,
Enable :=parameter,
CoordSystem :=parameter,
V
alid =>parameter,
Busy =>parameter,
Error =>parameter,
ErrorID =>parameter,
CommandPosition =>parameter,
ActualPosition =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE The instruction is executed when the
value of this variable changes to
TRUE.
CoordSystem Coordinate
System
_eMC_CO-
ORD_SYS-
TEM
0: _mcACS
0
*1
Specify the coordinate system.
0: Axis coordinate system (ACS)
*1. The default value for an enumeration variable is actually not the number, but the enumerator.
Output Variables
Name Meaning Data type Valid range Description
Valid Enabled BOOL TRUE or
F
ALSE
TRUE when the axis group is being controlled.
Busy Executing BOOL TRUE or
F
ALSE
TRUE when the instruction is acknowledged.
Error Error BOOL TRUE or
F
ALSE
TRUE while there is an error.
ErrorID Error Code WORD
*1
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execu-
tion.
CommandPosition Command Cur-
rent Position
ARRAY [0..3]
OF LREAL
Negative num-
ber
, positive
number, or 0
Contains the current value of the command po-
sition.
The unit is command units.
*2
4 Axes Group Instructions
4-91
NY-series Motion Control Instructions Reference Manual (W561)
MC_GroupReadPosition
4
Variables

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English