Approaching an axis-specific position as quickly as possible
Description
The function block MC_MoveAxisAbsolute is used to execute a point-to-point motion to an axis-specific end position. The axis positions are absolute.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
Execute |
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 |
REAL |
Velocity for the path motion
The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0% (= velocity is not changed) |
|
Acceleration |
REAL |
Acceleration for the path motion
The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0% (= acceleration is not changed) |
|
Approximate |
APO |
Approximation parameter (>>> APO) |
|
QueueMode |
INT |
Mode in which the statement is executed
(>>> 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 |