# MC_MoveDirAbs

The function block commands a motion by specifying an absolute target position. No path motion is interpolated here but every axis moves at the maximum possible velocity.

Block diagram

FB parameters

VAR_IN_OUT
Variable name | Data type | Description
AxesGroup | AXES_GROUP_REF | Axis group reference
VAR_INPUT
Variable name | Data type | Description
Execute | BOOL | The interpolated motion of the axes starts on a rising edge corresponding to the specified absolute positions.
Position | ARRAY [0..HLI_CH_AX_MAXIDX] OF LREAL | Array of absolute end positions in the current coordinate system. Default unit [0.1 µm]
CoordSystem | MC_COORDINATE_SYSTEM | Defines the coordinate system of the absolute positions: mcACS = 0 (axis coordinate system) mcPCS = 2 (programming coordinate system)
BufferMode | MC_BUFFER_MODE | The input defines when a job is activated provided that other jobs are already active when the FB is commanded or are waiting for execution. It also defines the path generated at the transition between 2 jobs. The following values are possible:

mcAborting = 0

mcBuffered = 1

mcBlendingPrev = 3

TransitionMode | UDINT | 0: TMNone (no transition motion is inserted, default setting) 2: TMConstantVelocity 3: TMCornerDistance 4: TMMaxCornerDeviation 10: TMConstDeviation

11: TMIntermediatePoint

12: TMDynamicOptimized

TransitionParameter | MCV_ARRAY_TRANS_PARAM | See Section Path blending and transition modes
VAR_OUTPUT
Variable name | Data type | Description
Done | BOOL | TRUE indicates that the moved axes reached their end position. The signal is activated as soon as the axes are located within the window around the target position defined by the related axis parameter getriebe[...].window (P-AXIS-00236).
Busy | BOOL | TRUE indicates that the function block is executing a job.
Active | BOOL | TRUE indicates that the function block sent the command to the MC.
CommandAborted | BOOL | TRUE indicates that the currently active command sent by the FB was aborted by another command.
Error | BOOL | TRUE indicates that an error occurred.
ErrorID | WORD | Error code
JobID | UDINT | Ordinal number of the last job sent by the FB.