Approaching an axis-specific position as quickly as possible

Description

The function block KRC_MoveAxisAbsolute executes a point-to-point motion to an axis-specific end position. The axis positions are absolute.

Approaching an axis-specific position as quickly as possible 1:

If the motion is executed as a spline motion, the following must be taken into consideration: If the motion is approximated and there is no further motion instruction in the buffer, the output “Done” is not set for the spline motion. In this case, the motion is not ended at the end point, but at the approximate positioning point.

Approaching an axis-specific position as quickly as possible 2:
Function block KRC_MoveAxisAbsolute

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

Starts/buffers the motion in the case of a rising edge of the signal.

AxisPosition

E6AXIS

Axis-specific end position

(>>> E6AXIS)

The data structure E6Axis contains the angle values or translation values for all axes of the axis group in the end position.

Velocity

INT

Velocity

  • 0 … 100%

Refers to the maximum value specified in the machine data.

Default: 0% (= velocity is not changed)

Acceleration

INT

Acceleration

  • 0 … 100%

Refers to the maximum value specified in the machine data.

Default: 0% (= acceleration is not changed)

Approximate

APO

Approximation parameter

(>>> APO)

BufferMode

INT

Mode in which the statement is executed

  • 1: ABORTING
  • 2: BUFFERED

(>>> BufferMode)

SplineMode

BOOL

TRUE = motion is executed as a spline motion.

FALSE = motion is executed as a conventional point-to-point motion.

Outputs

Parameter

Type

Description

Busy

BOOL

TRUE = statement is currently being transferred or has already been transferred

Active

BOOL

TRUE = motion is currently being executed

Done

BOOL

TRUE = motion has stopped

Aborted

BOOL

TRUE = statement/motion has been aborted

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number