Read out in PLC

MC_MoveAbsoluteCA function block

This function block 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.

Further information can be found in the documentation TF5410 TwinCAT 3 | Collision Avoidance: