ST_MoveOptions

This data type contains optional settings for travel commands such as MC_MoveAbsolute or MC_Halt.

TYPE ST_MoveOptions :
STRUCT
// Command activation at defined ActivationPosition 
// Extends the buffer mode when enabled 
    EnableBlendingPosition : BOOL;
    BlendingPosition : LREAL;
    
// Velocity profile options
// instantaneous speed change at the beginning 
// and at the end of the profile
    StartVelocity : LREAL;
    EndVelocity : LREAL;

// PositionAreaMonitoring, TargetPositionMonitoring 
// and StopMonitoring can be ignored using this flag
    IgnorePositionMonitoring : BOOL; 

// PositionAreaMonitoring, TargetPositionMonitoring 
// can be enabled for MC_Stop and MC_Halt commands 
    EnableStopPositionMonitoring : BOOL;
END_STRUCT
END_TYPE

ST_MoveOptions	Type	Description
EnableBlendingPosition	BOOL	This flag can be activated in order to define a different blending position for a command. In the normal case, the blending position is the target of the running command. With an active MC_MoveVelocity, no target is defined at first.
BlendingPosition	LREAL	Blending position used with active EnableBlendingPosition flag.
StartVelocity	LREAL	Option for the velocity profile Immediate velocity change at the start
EndVelocity	LREAL	Option for the velocity profile Immediate velocity change at the end
IgnorePositionMonitoring	BOOL	The target window monitor can be switched off for a single travel command with this flag. The target window monitor waits until the actual value is within a defined target window after reaching the target position. The target window monitor can be activated in the axis parameters.
EnableStopPositionMonitoring	BOOL	MC_Stop and MC_Halt commands do not define a target position. However, a target window monitor can still be activated for these commands with this flag. The travel command then waits until the actual position of the axis is also within a defined window at the stopping position. The target window monitor must be activated in the axis parameters for this.

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024	PC or CX (x86)	Tc2_MC2