MC_MoveDirAbs

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Commands movement of an axes group to an absolute position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. regardless of path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along..

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to perform a direct The orientation components of a vector in space. absolute move A positioning movement referenced to a fixed original position. Example: If a stage is positioned at +500 mm, an absolute move to +300 mm would result in a move of 200 mm towards the origin (in the negative direction)..
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	Reference to an axes group.
Position[]	LREAL	0, Number of axes in group - 1	N/A	No default	Array of absolute end positions for each axis in the group.
CoordSystem	SINT	One of these enumeration values: MC_COORDINATE SYSTEM The reference system in which a coordinate or path is described._ACS Axes Coordinate System - The system of coordinates related to the physical motors and the single movements caused by the single drives. = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS Product Coordinate System or Program Coordinate System. The PCS is based on the MCS by shifting and maybe rotating the MCS. The Zero point of the PCS is related to the product and can be changed during runtime by the program. The real work piece can have a rotation or shift to the MCS coordinate system or even might be moving relative to the MCS coordinate system. By specifying a trajectory in PCS one is able to describe the trajectory independent from the machine situation. To map these two worlds (MCS to PCS and vice versa), a Cartesian or cylindrical transformation is normally done. = 2	N/A	No default	The coordinate system used when commanding the direct absolute move. Only the ACS coordinate system is supported. See Coordinate Systems.
BufferMode	SINT	One of these enumeration values: MC_BUFFER_MODE_ABORTING = 0 = Abort MC_BUFFER_MODE_BUFFERED = 1 = Buffered	N/A	No default	Defines the chronological sequence of the function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block relative to the previous block. See Buffer Modes.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Busy	BOOL	FALSE, TRUE	N/A	If TRUE, the function block is executing.
Active	BOOL	FALSE, TRUE	N/A	If TRUE, the function block is controlling motion.
CommandAborted	BOOL	FALSE, TRUE	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	-32768 to +32767	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• See Coordinated Motion, the top-level topic for Coordinated Motion.
• See Function Blocks - General Rules about how inputs and outputs work.
• When all motion has completed successfully, the axes group state is GroupStandby.
• MC_MoveDirAbs commands the movement of an axes group to a specified absolute position in the specified coordinate system regardless of how (on which path) the target position is reached.

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• • An error is returned if the group is in the GroupDisabled state.
  • This function block does not have its own Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics), Deceleration, Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP, and Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time. arguments.
    • These are set using MC_AxisSetDefaults.
  • The maximum number of axes is set by the MaxNumberOfAxes input set in the MC_CreateAxesGrp function block.

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• • Circular motion is only supported for axes groups with only two attached axes.

Figure 1: MC_MoveDirAbs

FBD Language Example

FFLD Language Example

IL Language Example

            BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
     CAL Inst_MC_MoveDirAbs( DirectMove, Group1_Ref, PositionList, MC_COORD_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING)
END_IL

ST Language Example

Inst_MC_MoveDirAbs( DirectMove, Group1_Ref, PositionList, MC_COORDSYSTEM_ACS, MC_BUFFER_MODE_ABORTING);

See Also

• MC_ErrorDescription
• MC_MoveDirRel