MC_MoveAbsolute_SML (FB)¶

FUNCTION_BLOCK FINAL MC_MoveAbsolute_SML

Commands a controlled motion to a specified absolute position.

The following figure shows two examples of the combination of two instances of MC_MoveAbsolute_SML:

1. The left part of the timing diagram illustrates the case if the second FB is called after the first one. If the first reaches the commanded position of 6000 (and the velocity is 0), then the output Done causes the second FB to move to position 10000.

2. The right part of the timing diagram illustrates the case if the second FB starts the execution while the first FB is still executing. In this case the first motion is interrupted and aborted by the Test signal during the constant velocity phase of the first FB. The second FB moves directly to position 10000, although the position of 6000 is not reached yet.

InOut:

Scope	Name	Type	Comment
Inout	Axis	Axis_REF_SML	Reference to the axis
Input	Execute	BOOL	Rising edge: The motion is started
	Position	LREAL	Commanded position for the motion (may be negative) (in technical units [u])
	Velocity	LREAL	Value of the maximum velocity (always positive) (not necessarily reached) [u/s]
	Acceleration	LREAL	Value of the acceleration (always positive) (increasing energy of the motor) [u/s²]
	Deceleration	LREAL	Value of the deceleration (always positive) (decreasing energy of the motor) [u/s²]
Output	Done	BOOL	Commanded position reached
	Busy	BOOL	The motion is not finished and new output values are to be expected
	CommandAborted	BOOL	The motion was interrupted by a motion command acting on the same axis
	Error	BOOL	Signals that an error has occured
	ErrorID	SML_ERROR	Error number