MC_MoveAbsolute_PTO: Command Movement to Absolute Position

Graphical Representation

IL and ST Representation

To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation.

Input Variables

This table describes the input variables:

Input	Type	Initial Value	Description
Axis	AXIS_REF_PTO	-	Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
Execute	BOOL	FALSE	On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Position	DINT	0	Target absolute position.
Velocity	DINT	0	Target velocity in Hz, not necessarily reached. Range: 1...MaxVelocityAppl
Acceleration	DINT	0	Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl Range (ms): MaxAccelerationAppl...100,000
Deceleration	DINT	0	Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl Range (ms): MaxDecelerationAppl...100,000
Direction	MC_DIRECTION	mcPositiveDirection	Direction of the movement.
BufferMode	MC_BUFFER_MODE	mcAborting	Transition mode from ongoing move.
JerkRatio1	INT	0	Percentage of acceleration from standstill used to create the S-curve profile.
JerkRatio2	INT	0	Percentage of acceleration to constant velocity used to create the S-curve profile.
JerkRatio3	INT	0	Percentage of deceleration from constant velocity used to create the S-curve profile.
JerkRatio4	INT	0	Percentage of deceleration to standstill used to create the S-curve profile.

Output Variables

This table describes the output variables:

Output	Type	Initial Value	Description
Done	BOOL	FALSE	If TRUE, indicates that the function block execution is finished with no error detected.
Busy	BOOL	FALSE	If TRUE, indicates that the function block execution is in progress.
Active	BOOL	FALSE	The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
CommandAborted	BOOL	FALSE	Function block execution is finished, by aborting due to another move command or an error detected.
Error	BOOL	FALSE	If TRUE, indicates that an error was detected. Function block execution is finished.
ErrorId	PTO_ERROR	PTO_ERROR.NoError	When Error is TRUE: code of the error detected.

NOTE:

oThe function block completes with velocity zero if no further blocks are pending.

oThe motion direction is automatically set, according to the present and targeted positions.

oIf the distance is too short for the target velocity to be reached, the movement profile is triangular, rather than trapezoidal.

oIf the position cannot be reached with the ongoing direction, the direction reversal is automatically managed. If a motion is ongoing, it is first halted with the deceleration of the MC_MoveAbsolute_PTO function block, and then the motion resumes backwards.

oThe acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

The diagram illustrates a complex profile from Discrete state:

The diagram illustrates a complex profile from Discrete state with change of direction: