MC_MoveAbsolute

MC_MoveAbsolute 1:

MC_MoveAbsolute starts positioning to an absolute target position and monitors the axis movement over the whole travel path. The Done output is set once the target position has been reached. Otherwise the CommandAborted or, on error, the Error output 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 MC_MoveModulo block can be used for modulo positioning.

Travel commands can be applied to coupled slave axes, if this option was explicitly activated in the axis parameters. Travel commands can be applied to coupled slave axes, if this option was explicitly activated in the axis parameters. In this case only Buffer-ModeAborting is possible.

Inputs


VAR_INPUT
    Execute      : BOOL;
    Position     : LREAL; 
    Velocity     : LREAL; 
    Acceleration : LREAL; 
    Deceleration : LREAL; 
    Jerk         : LREAL;
    BufferMode   : MC_BufferMode;
    Options      : ST_MoveOptions;
END_VAR

Execute	The command is executed with a rising edge at input Execute.
Position	Absolute target position to be used for positioning.
Velocity	Maximum travel velocity (>0).
Acceleration	Acceleration (≥0). If the value is 0, the standard acceleration from the axis configuration in the System Manager is used.
Deceleration	Deceleration (≥0). If the value is 0, the standard deceleration from the axis configuration in the System Manager is used.
Jerk	Jerk (≥0). If the value is 0, the standard jerk from the axis configuration in the System Manager is used.
BufferMode	The BufferMode is analyzed, if the axis is already executing another command. The running command can be aborted, or the new command becomes active after the running command. The BufferMode also determines the transition condition from the current to the next command. If the command is applied to a coupled slave axis used, the only available buffer mode is Aborting. A second function block is required to use the buffer mode. It is not possible to trigger a move block with new parameters while it is active.
Options	The data structure option includes additional, rarely required parameters. The input can normally remain open.

General rules for MC function blocks

Outputs


VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Done	The Done output becomes TRUE once the target position was reached.
Busy	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the movement command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	Active indicates that the command is executed If the command was queued, it becomes active once a running command is completed.
CommandAborted	Becomes TRUE, if the command could not be fully executed. The axis may have been stopped, or the running command may have been followed by a further Move command.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.

General rules for MC function blocks

Inputs/outputs


VAR_IN_OUT
    Axis    : AXIS_REF;
END_VAR

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.