SetGroupStartingPosition

SetGroupPositionOffset sets the position of a group. Before you move a group, you need to set a starting position for it, or you don't know where it starts. In SetGroupStartingPosition, we set the position to zero for a group. This can be modified depending on your needs. To make sure the position is set successfully, we use GetAGroupPosition to display the position after the setting is done.

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VOID SetGroupStartingPosition(int Group)
{
    //Set the starting positions.
    const int LENGTH = 3;   //Array length. It indicates how many axes in a group.
                            /*Remember to change this value when you change the number of the
                              axes in a group.*/
    double StartingPositions[LENGTH] = { 0 };

    KsCommandStatus Position = WaitForCommand(5, FALSE, SetGroupPositionOffset(Group, LENGTH, 
        StartingPositions, FALSE, mcAxisCoordSystem, mcImmediately));
    if (Position.Error)
        RtPrintf("SetGroupPositionOffset failed: %d\n\n", Position.ErrorId);

    //Wait a few cycles for the set position to be set.
    Sleep(5);

    GetAGroupPosition(Group);
}