MC_MoveLinearAbsolute (FB)¶

FUNCTION_BLOCK FINAL MC_MoveLinearAbsolute

This function block commands a linear movement of an axis group to an absolute position in the specified coordinate system.

InOut:

Scope	Name	Type	Initial	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3		Reference to a group of axes
Input	Execute	BOOL		Start the motion at rising edge
	Position	SMC_POS_REF		End position in the specified coordinate system
	Velocity	LREAL		Maximum path velocity [u/s] for the coordinate system in which the path is defined. Always positive. Not necessarily reached.
	Acceleration	LREAL		Maximum path acceleration [u/s²]. Always positive. Not necessarily reached.
	Deceleration	LREAL		Maximum path deceleration [u/s²]. Always positive. Not necessarily reached.
	Jerk	LREAL		Maximum path jerk [u/s³]. Always positive. Not necessarily reached.
	CoordSystem	SMC_COORD_SYSTEM		Applicable coordinate system
	BufferMode	MC_BUFFER_MODE		Defines the chronological sequence of the FB relative to the previous block.
	TransitionMode	MC_TRANSITION_MODE		Defined the blending in case of a blending buffer mode
	TransitionParameter	ARRAY [0..(SMC_RCNST.MAX_TRANS_PARAMS - 1)] OF LREAL		Parameters for blending
	OrientationMode	SMC_ORIENTATION_MODE		Determines how the orientation is interpolated.
	VelFactor	LREAL	1	The maximum velocity of each axis is multiplied by this factor, which must be in the range ]0, 1].
	AccFactor	LREAL	1	The maximum acceleration of each axis is multiplied by this factor, which must be in the range ]0, 1].
	JerkFactor	LREAL	1	The maximum jerk of each axis is multiplied by this factor, which must be in the range ]0, 1].
	TorqueFactor	LREAL	1	The maximum torque of each axis is multiplied by this factor, which must be in the range ]0, 1]. A dynamic model must have been set using SMC_GroupSetDynamics for this factor to have an effect.
	AdditionalAxes	IAdditionalAxesMovement		If an instance of SMC_MoveAdditionalAxesAbsolute or SMC_MoveAdditionalAxesRelative is assigned to this input, the additional axes of the axis group will perform the specified movement while this function block is active. Set to 0 if no additional axes movement has to be performed or if there are no additional axes.
	Name	STRING	‘MC_MoveLinearAbsolute’	The name of the movement.
Output	Done	BOOL		Commanded end positions reached for all axes
	Busy	BOOL		The FB is not finished
	Active	BOOL		Indicates that the FB has control on the axis
	CommandAborted	BOOL		Command is aborted by another command
	CommandAccepted	BOOL		The command has been accepted by the axis group. If the output becomes TRUE, the function block instance can be used to command the next movement with a new rising edge on Execute. While the output is FALSE, keep calling the function block without a new rising edge of Execute. The output is reset to FALSE on a falling edge of Execute.
	Error	BOOL		Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR		Error identification
	MovementId	SMC_Movement_Id		The unique identifier of the movement. Valid if CommandAccepted or Done is TRUE.