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.
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. |
Inputs
Parameter |
Type |
Description |
---|---|---|
AxisGroupIdx |
INT |
Index of axis group
|
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
Refers to the maximum value specified in the machine data. Default: 0% (= velocity is not changed) |
Acceleration |
INT |
Acceleration
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
(>>> 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 |