Approaching an absolute Cartesian position with a linear motion

Description

The function block MC_MoveLinearAbsolute is used to execute a linear motion to a Cartesian end position. The coordinates of the end position are absolute.

Approaching an absolute Cartesian position with a linear motion 1: — Function block MC_MoveLinearAbsolute

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
Execute	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
Position	E6POS	Coordinates of the Cartesian end position (>>> E6POS) The data structure E6POS contains all components of the end position (= position of the TCP relative to the origin of the BASE coordinate system).
Velocity	REAL	Velocity for the path motion 0 … 2 m/s The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0 m/s (= velocity is not changed)
Acceleration	REAL	Acceleration for the path motion 0 … 2.3 m/s² The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0 m/s² (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the end position refer (>>> COORDSYS) Note: In the case of a linear motion, the Cartesian coordinates always refer to the BASE coordinate system.
OriType	INT	Orientation control of the TCP 0: VAR 1: CONSTANT 2: JOINT (>>> OriType)
Approximate	APO	Approximation parameter (>>> APO)
QueueMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> QueueMode)

Outputs

Parameter	Type	Description
ComAcpt	BOOL	TRUE = statement was completely transferred and confirmed by the robot controller.
ComBusy	BOOL	TRUE = statement was transferred and confirmed by the robot controller, but has not yet been executed completely.
Busy	BOOL	TRUE = function block has not yet been executed completely.
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
CommandAborted	BOOL	TRUE = statement/motion has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number