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	FALSE	TRUE: Starts execution.
	Position	LREAL	0	Target position of the motion In technical units [u]) Can be negative or positive. For modulo axes, valid absolute position values lie within the range of [0, 360[. 360 is thus excluded. The range can be adapted. The application can shift the set position of MC_MoveAbsolute into the appropriate modulo range. Modulo 360 can be used for relative positions.
	Velocity	LREAL	0	Maximum velocity In [u/s] Is always positive. Does not need to be achieved.
	Acceleration	LREAL	0	Acceleration In [u/s²] Is always positive. Increasing motor energy
	Deceleration	LREAL	0	Deceleration In [u/s²] Is always positive. Decreasing motor energy
	Jerk	LREAL	0	Jerk in [u/s³]
	Direction	MC_Direction	shortest	Permitted values for MC_DIRECTION For linear axis positive negative For rotary axis positive negative current shortest: Sets to a track that describes the shortest path. The choice of direction is based on the position at the time of the command call. fastest If there is only one mathematical solution for reaching the target position, as for example in a linear system, then the value of the Direction input is ignored.
Output	Done	BOOL	FALSE	TRUE: End position has been achieved.
	Busy	BOOL	FALSE	TRUE: Function block is in operation. If no further actions are pending, the execution ends with velocity 0.
	CommandAborted	BOOL	FALSE	TRUE: The execution is interrupted by an other function block.
	Error	BOOL	FALSE	TRUE: Error has occurred.
	ErrorID	SMC_ERROR	0	Error identification