Approaching an absolute Cartesian position as quickly as possible

Description

The function block MC_MoveDirectAbsolute executes a point-to-point motion to a Cartesian end position. The coordinates of the end position are absolute.

The robot moves as quickly as possible to the end position. The fastest path is generally not the shortest path and is thus not a straight line. This corresponds to a PTP motion on the robot system.

Approaching an absolute Cartesian position as quickly as possible 1: — Function block MC_MoveDirectAbsolute

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). Note: If the value -1 is transferred for Status and Turn, the shortest path to the end position is taken.
Velocity	REAL	Velocity for the path motion 0 … 100% The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0%
Acceleration	REAL	Acceleration for the path motion 0 … 100% The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0% (= velocity is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the end position refer (>>> COORDSYS) Note: In the case of a point-to-point motion, the Cartesian coordinates always refer to the BASE coordinate system.
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