# MC_MoveAbsolute command

MC_MoveAbsolute commands an axis motion to an absolute position. The motion is always executed jerk-limited at the constant set in "Jerk”. This value is valid for both "Acceleration" and "Deceleration".

If the optional parameters “Acceleration", "Deceleration” and “Jerk” are not specified or set to ≤ 0, the dynamic values are taken from the corresponding axis list.

Optionally, the program can wait for the job to end (“WaitSyn” keyword) or can assign a Job ID (“Id” keyword) for later synchronisation.

Syntax of the NC command:
<axis_name>[ MC_MoveAbsolute Position=.. Velocity=.. [Acceleration=..] [Deceleration=..] [Jerk=..] Direction=.. [Id=..] [WaitSyn] { \ } ]

## Block diagram of the function block in PLCopen:

Input pin | Unit |
Position | [0.1 µm or 10-4 °]
Velocity | [1 µm/s or 10-3 °/s]
Acceleration | [1 mm/s2 or 1°/s2]
Deceleration | [1 mm/s2 or 1°/s2]
Jerk | [1 mm/s3 or 1°/s3]
Direction | 1 positive direction 2 shortest path 3 negative direction 4 current direction

## Programing Example

MC_MoveAbsolute

S[MC_MoveAbsolute Position=133 Velocity=1000 Acceleration=500 \

Deceleration=600 Jerk=20000 Direction=2]