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.