MC_MoveLinAbs
This function block commands a linear interpolated motion of the axes of an axis group by specifying absolute target positions.
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 linear 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] |
Velocity | LREAL | Maximum path velocity of the motion. This value need not be reached. Default unit [10-3 °/ s] |
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 curve 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 axes have reached their end position. |
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. |