MC_MoveAbsolute
This function block commands a motion to a specified absolute position.
Syntax
Definition:
FUNCTION_BLOCK MC_MoveAbsolute
VAR_IN_OUT
Axis : Reference To AXIS_REF;
END_VAR
VAR_INPUT
Execute : BOOL;
Position : LREAL;
Velocity : LREAL;
Acceleration : LREAL;
Deceleration : LREAL;
Jerk : LREAL;
BufferMode : EBufferMode;
END_VAR
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VAR
Inputs
|
Name |
Type |
Default |
Description |
|---|---|---|---|
|
Execute |
BOOL |
|
Trigger the command with rising edge. |
|
Position |
LREAL |
#Invalid |
Commanded position ([PosUnit]) |
|
Velocity |
LREAL |
#Invalid |
Maximum velocity ([PosUnit]/s, positive) |
|
Acceleration |
LREAL |
#Default |
Maximum acceleration ([PosUnit]/s^2, positive) |
|
Deceleration |
LREAL |
#Default |
Maximum deceleration ([PosUnit]/s^2, positive) |
|
Jerk |
LREAL |
#Default |
Maximum jerk ([PosUnit]/s^3, positive) |
|
BufferMode |
Aborting |
Chronological sequence of the command |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Done |
BOOL |
Commanded position finally reached |
|
Busy |
BOOL |
Function block is not finished and new output values are to be expected. |
|
Active |
BOOL |
Function block has active control on the axis. |
|
CommandAborted |
BOOL |
Command is aborted by another command. |
|
Error |
BOOL |
Error occurred within function block. |
|
ErrorId |
UDINT |
Error identifier |
Further information
The function block MC_MoveAbsolute starts the positioning to an absolute target position and monitors the axis movement over the entire travel path.
If a motion command with the input BufferMode = Tc3_Mc3Base.EBufferMode.Aborting is applied to a coupled slave axis, this causes the axis to be automatically decoupled, followed by the execution of the command.
Possible error codes
For this function block, the following values, among others, are possible for the ErrorId output:
Error(Hex) | Error(Dec) | Error type | Description |
|---|---|---|---|
0x813c | 33084 | Parameter | BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered). |
0x8145 | 33093 | Function Block | Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete. |
0x8146 | 33094 | Function Block | Invalid velocity value. The velocity was not set or the entered value is invalid. |
0x8151 | 33105 | State | Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted. |
0x8182 | 33154 | Monitoring | Software position limit violation. Software position limits of at least one axis have been or would have been violated by a command. |
0x8196 | 33174 | Initialization | Invalid position or distance. The actual or specified position or distance could not be determined or is invalid. |
0x819a | 33178 | NC Programming | Direction-dependent feed enable is missing. The execution of this command is not possible because of a missing direction-dependent feed enable. |
0x819b | 33179 | NC Programming | Controller enable is missing. The controller enable of the axis was withdrawn during a movement. The dynamics of the setpoint did not correspond to zero dynamics. |
0x81a9 | 33193 | Parameter | Invalid acceleration value. The supplied acceleration value is invalid (e.g. not a finite number, negative or outside the permitted range). |
0x81aa | 33194 | Parameter | Invalid deceleration value. The supplied deceleration value is invalid (e.g. not a finite number, negative or outside the permitted range). |
0x81ab | 33195 | Parameter | Invalid jerk value. The jerk value used for the motion is invalid (e.g., negative, zero, or outside the permitted range of the mover or axis). |
An overview of all NC error codes can be found here:
Version information
- TwinCAT Standard >= v3.1.4026.23.1
- TF5500 MC3 Base >= v4.0.6