MC_MoveAbsoluteCA

The function block MC_MoveAbsoluteCA instructs a single axis to move to the absolute position defined in the function block, based on Collision Avoidance. Collision Avoidance has higher priority than the motion command. Therefore, the axis may slow down or wait while the motion command is executed to avoid a collision. The function block does not output the signal Done until the axis has reached its target position.

Inputs

VAR_INPUT
    Execute               : BOOL;
    ContinuousUpdate      : BOOL;
    Position              : MC_LREAL := MC_INVALID;
    Velocity              : MC_LREAL := MC_INVALID;
    Acceleration          : MC_LREAL := MC_DEFAULT;
    Deceleration          : MC_LREAL := MC_DEFAULT;
    Jerk                  : MC_LREAL := MC_DEFAULT;
    Gap                   : MC_LREAL := MC_DEFAULT;
    BufferMode            : MC_BUFFER_MODE := mcAborting;
    Direction             : Tc3_Mc3Definitions.MC_DIRECTION;
    Options               : ST_MoveAbsoluteCAOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
ContinuousUpdate	BOOL	In this version, continuous updating is only available for the `Gap`.
Position	MC_LREAL	Specified absolute target position for the command. From TF5400 V3.1.10.30: If positioning is performed using modulo (`Direction != mcDirectionNonModulo`), the target position must be in the `Interval[0, ModuloFaktor]`. Additional turns are commanded via the parameter `ST_MoveAbsoluteCAOptions.AdditionalTurns`. If the target position is within the `Tolerance Window`, then the `Direction = mcDirectionPositive` and `Direction = mcDirectionNegative` for the position will be ignored without additional turns. Up to TF5400 V3.1.10.14 additional turns are commanded by commanding larger target positions than the `ModuloFaktor`. Further details in the notes to Modulo positioning.
Velocity	MC_LREAL	The velocity value must be greater than 0. It is automatically limited by the axis parameter 'Maximum Velocity'. A velocity must always be specified. Special input values: `MC_DEFAULT` = invalid, as there is no default velocity `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Velocity'
Acceleration	MC_LREAL	The acceleration value must be greater than or equal to 1 and is limited by the axis parameter 'Maximum Acceleration'. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Acceleration' `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Acceleration'
Deceleration	MC_LREAL	The deceleration value must be greater than or equal to 1 and is limited by the axis parameter 'Maximum Deceleration'. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Deceleration' `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Deceleration'
Jerk	MC_LREAL	The jerk must be ≥100. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Jerk' `MC_MAXIMUM` = invalid
Gap	MC_LREAL	This value determines the minimum gap to the predecessor for Collision Avoidance. If no value is entered, the default value of the group is used. Notice When using geo-compensation, special attention must be paid to the gap. The mover gap for Collision Avoidance always relates positionally and dynamically to the offset path geometry. Since the gap refers to the offset path when using geo-compensation, adjacent movers in the curves can collide if it is set too low. Ensure the gap is large enough.
BufferMode	MC_BUFFER_MODE	In this version only `mcAborting` and `mcBuffered` are available (see MC_BUFFER_MODE).
Direction (available from V3.1.10.1)	Tc3_Mc3Definitions.MC_DIRECTION	Defines the direction of the movement (default mcDirectionNonModulo), see MC_DIRECTION.
Options	ST_MoveAbsoluteCAOptions	For more information about the available options (from V3.1.2.47) see the documentation for ST_MoveAbsoluteCAOptions.

	The axis does not reach the target velocity, acceleration or deceleration The values for velocity, acceleration or deceleration may be automatically limited to the maximum axis velocity, acceleration and deceleration. Check the parameters Maximum Dynamics and Default Dynamics of the axis. It is also possible that the values of Maximum Dynamics are smaller than the Default Dynamics.

Inputs/outputs

VAR_IN_OUT
    Axis                  : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Reference to an axis (see AXIS_REF).

Outputs

VAR_OUTPUT
    Done                  : BOOL;
    Busy                  : BOOL;
    Active                : BOOL;
    CommandAborted        : BOOL;
    Error                 : BOOL;
    ErrorId               : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	This output becomes `TRUE` when the command was successfully executed.
Busy	BOOL	This output becomes `TRUE` when the command is started with `Execute` and remains so as long as the function block executes the command. If `Busy` becomes `FALSE` again, the function block is ready for a new command. At the same time, one of the outputs `Done`, `CommandAborted` or `Error` is set.
Active	BOOL	If `Active` is `TRUE`, the function block controls the axis.
CommandAborted	BOOL	This output becomes `TRUE` if the command was interrupted by another command.
Error	BOOL	This output becomes `TRUE` if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2