Overview

CODESYS SoftMotion distinguishes between movements which only act on a single axis and movements in which two axes are synchronized (for example, via electronic cams or virtual gears). The latter is described on the Synchronous Movements of Two Axes help page.

Basically, the motion blocks which act only on a single axis can be subdivided into the following categories:

Table 26. Motion Blocks

Function Block	Description
`MC_MoveAbsolute`	Executes a movement to the specified position
`MC_MoveRelative`	Executes a movement by the specified distance relative to the current position
`MC_MoveAdditive`	Executes a movement by the specified distance relative to the last commanded target position of another movement (for example, from `MC_MoveAbsolute`)
`MC_MoveSuperimposed`	Executes a movement by the specified relative distance in addition to another active movement (for example, from `MC_MoveAbsolute`). The active movement is not aborted.
`MC_MoveVelocity`	Executes a continuously running movement at the specified velocity
`SMC_MoveContinuousAbsolute`	Executes a movement to the specified position. In this case, the target position is reached at a defined velocity which is maintained afterwards.
`SMC_MoveContinuousRelative`	Executes a movement by the specified distance relative to the current position. In this case, the target position is reached at a defined velocity which is maintained afterwards.
`MC_Jog`	Executes a continuously running movement at the specified velocity as long as the axis should move forwards or backwards
`SMC_Inch`	Executes a movement by the specified distance relative to the current position as long as the axis should move forwards or backwards

Table 27. Halting of movements

Function Block	Description
`MC_Halt`	Executes a controlled stop, interrupts any active movement, and brings the axis to a standstill. `MC_Halt` is intended for normal operating conditions because the stop can be interrupted by new movements. In addition, operation can be resumed more easily after a stop because the axis remains in an operational state.
`MC_Stop`	Executes a controlled stop, interrupts any active movement, and brings the axis to a standstill. `MC_Stop` is intended for emergency situations because the stop cannot be interrupted by new movements. After the stop has been made, the axis is in a stop state so that no new movements are accepted. New movements are only possible again after the stop has been completed and the `Execute` input is set to `FALSE`.
`MC_HaltSuperImposed`	Executes a controlled stop of `SuperImposed` movements. The underlying movement is not aborted in the process

Table 28. Homing

Function Block	Description
`MC_Home`	Starts a homing of the axis controlled by the drive. The operation and its parameters depend on the drive and the manufacturer.
`SMC_Homing`	Starts a homing of the axis controlled by the controller
`MC_SetPosition`	Does not move the axis, but only shifts the zero point. In this way, the block can be used for referencing, for example. Moreover, the block can also be called during an active movement.

Table 29. Special movements

Function Block	Description
`SMC_FollowPosition`	Writes the set position of the axis. This can be used to pass your own calculated trajectories to the axis.
`SMC_FollowVelocity`	Writes the set velocity of the axis. This can be used to pass your own calculated trajectories to the axis.
`SMC_FollowPositionVelocity`	Writes the set position and velocity of the axis. This can be used to pass your own calculated trajectories to the axis.
`SMC_FollowSetValues`	Selectively writes the set position, velocity, acceleration, jerk, and/or the set target torque of the axis. This can be used to pass your own calculated trajectories to the axis.
`SMC_SetTorque`	Writes the set torque of the axis. Depending on the operating mode of the axis, the value is used either for torque feed forward control or as the torque which the axis is supposed to apply.