MC_MoveAbsolute
The function block MC_MoveAbsolute starts the positioning to an absolute target position and monitors the axis movement over the entire travel path. The "Done" output is set once the target position has been reached. Otherwise, the output "CommandAborted" or, in case of an error, the output "Error" is set.
MC_MoveAbsolute is predominantly used for linear axis systems. For modulo axes the position is not interpreted as a modulo position, but as an absolute position in continuous absolute coordinate system. Alternatively, the function block MC_MoveModulo can be used for modulo positioning.
Inputs
VAR_INPUT
Execute : BOOL;
Position : LREAL;
Velocity : LREAL;
Acceleration : LREAL;
Deceleration : LREAL;
Options : ST_MoveOptions;
END_VAR
Name | Type | Description |
---|---|---|
Execute | BOOL | The command is executed with a rising edge. |
Position | LREAL | Absolute target position to be used for positioning. |
Velocity | LREAL | Maximum travel velocity (>0). |
Acceleration | LREAL | Acceleration (>0) |
Deceleration | LREAL | Deceleration (>0) |
Options | ST_MoveOptions | Data structure (ST_MoveOptions) containing additional, rarely used parameters. The input can normally remain unused. |
See also: General rules for MC function blocks. |
Inputs/outputs
VAR_IN_OUT
Axis : AXIS_REF;
END_VAR
Name | Type | Description |
---|---|---|
Axis | Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state. |
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Name | Type | Description |
---|---|---|
Done | BOOL | TRUE when the target position has been reached. |
Busy | BOOL | TRUE as soon as the command is started with "Execute" and as long as the movement command is processed. If "Busy" is FALSE, the function block is ready for a new order. At the same time, one of the outputs "Done", "CommandAborted" or "Error" is set. |
Active | BOOL | Indicates that the command is executed. If the command was buffered, it becomes active once a running command is completed. |
CommandAborted | BOOL | TRUE if the command could not be executed completely. The axis was stopped or the current command was replaced by another Move command. |
Error | BOOL | TRUE, if an error occurs. |
ErrorID | UDINT | If the error output is set, this parameter supplies the error number. |
See also: General rules for MC function blocks. |
Requirements
Development environment | PLC libraries to include |
---|---|
TwinCAT 3.1.4024.11 | Tc3_DriveMotionControl |