MC_MoveAbsolute

Functional Description

This function block performs a movement to a specified absolute target position.

Graphical Representation

Inputs

Input

Data type

Description

Axis

Axis_Ref

Reference to the axis for which the function block is to be executed.

Execute

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE.

This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.

Position

LREAL

Value range: -2147483648...2147483647

Default value: 0.

Target position absolute in user-defined units.

Velocity

LREAL

Value range: A positive LREAL value

Default value: 0

Target velocity in user-defined units.

Acceleration

LREAL

Value range: A positive LREAL value

Default value: 0

Acceleration in user-defined units.

Deceleration

LREAL

Value range: A positive LREAL value

Default value: 0

Deceleration in user-defined units.

Jerk

LREAL

Value range: A positive LREAL value and zero

  • Positive values: Jerk limit (in units/s3) (maximum jerk with which the acceleration is modified).

  • Zero: Jerk limit disabled. The acceleration jumps from zero to maximum acceleration (infinite jerk).

Default value: 0

Direction

MC_Direction

Default value: PositiveDirection

Direction of movement.

Possible values:

  • Value PositiveDirection

  • Value NegativeDirection

  • Value ShortestWay (only for modulo axes, ignored for linear axes)

See MC_Direction for a description of the values.

BufferMode

MC_Buffer_Mode

Default value: Aborting

Buffer mode.

Possible values:

  • Value Aborting

  • Value Buffered

  • Value BlendingLow

  • Value BlendingPrevious

  • Value BlendingNext

  • Value BlendingHigh

See MC_Buffer_Mode for a description of the values.

Outputs

Output

Data type

Description

Done

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Execution has not been finished, or an error has been detected.

  • TRUE: Execution terminated without an error detected.

Busy

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Function block is not being executed.

  • TRUE: Function block is being executed.

Active

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: The function block does not control the movement of the axis.

  • TRUE: The function block controls the movement of the axis.

CommandAborted

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Execution has not been aborted.

  • TRUE: Execution has been aborted by another function block.

Error

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Function block is being executed, no error has been detected during execution.

  • TRUE: An error has been detected in the execution of the function block.

ErrorID

ET_Result

This enumeration provides diagnostics information.

Notes

Absolute positioning requires a valid zero point. This means the axis has to be homed (flag xHomed must be TRUE).

Additional Information

PLCopen State Diagram