MC_MoveAbsolute (FB)¶

FUNCTION_BLOCK MC_MoveAbsolute

This function block causes the axis to be moved to an absolute position and uses the values for Velocity, Deceleration, Acceleration and Jerk. If no further actions are pending, the execution ends with velocity 0. (See: standstill)

Example

Use of MC_MoveAbsolute

The following illustration shows two possibilities for combining two instances (First and Second) of the type MC_MoveAbsolute. In the left-hand part of the diagram the Second instance is called after the First instance.

If First has reached the specified position of 6000 and the input Velocity is 0, then the Done output will cause the Second instance to move the axis to the position 10000. In the right-hand part of the diagram, the execution is started by Second while First is still operating.

The motion caused by First is interrupted and aborted by the Test signal which is transmitted during the constant velocity phase of First. Second steers directly to position 10000, even though position 6000 has not yet been reached.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3
Input	Execute	BOOL		TRUE: Starts execution.
	Position	LREAL		Target position of the motion in technical units [u], can be negative or positive.
	Velocity	LREAL		Maximum velocity in techincal units per second [u/s]. Is always positive. Is not necessarily reached.
	Acceleration	LREAL		Acceleration in [u/s²]. Is always positive. Increasing motor energy
	Deceleration	LREAL		Deceleration in [u/s²]. Is always positive. Decreasing motor energy
	Jerk	LREAL		Maximum magnitude of jerk in [u/s³]
	Direction	MC_Direction	shortest	The direction is used for modulo axes to determine the modulo-period in which the target position is reached. For finite axes, the input is ignored.
	BufferMode	MC_BUFFER_MODE		Defines the chronological sequence of the FB relative to the previous block. If the function block is Busy, then only BufferMode=Aborting is allowed.
Output	Done	BOOL		TRUE: End position has been reached.
	Busy	BOOL		TRUE: Function block is in operation. If no further actions are pending, the execution ends with velocity 0.
	Active	BOOL		Indicates that the FB has control on the axis
	CommandAborted	BOOL		TRUE: The execution is interrupted by an other function block.
	Error	BOOL		TRUE: Error has occurred.
	ErrorID	SMC_ERROR		Error identification