Function BlockMC_MoveDirAbsPLCopen motion iconPipe Network motion icon

Description

MC_MoveDirAbs commands the movement of an axes group to a specified absolute position in the specified coordinate system without taking care of how (on which path) the target position is reached.

When all motion is completed successfully, the state becomes GroupStandby.

Figure 7-182: MC_MoveDirAbs

Related Functions

MC_MoveDirRel, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute Description On the rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to perform a direct absolute move.
  Data Type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroup Description Reference to an axes group
  Data Type AXES_GROUP_REF
  Range
  Unit N/A
  Default
Position[ ] Description

Array of absolute end positions for each axis in the group.

  Data Type LREAL
  Range [0, Number of axes in group - 1]
  Unit N/A
  Default
CoordSystem Description

The coordinate system used when commanding the direct absolute move

Currently, only the ACS coordinate system is supported. See Coordinate Systems to learn more.

     
  Data Type SINT
  Range
  • MC_COORDINATE_SYSTEM_ACS = 0
  • MC_COORDINATE_SYSTEM_MCS = 1
  • MC_COORDINATE_SYSTEM_PCS = 2
  Unit N/A
  Default
BufferMode Description

Defines the chronological sequence of the function block relative to the previous block.

See the table in Buffer Modes.

  Data Type

SINT

MC_BUFFER_MODE_ABORTING = 0 = Abort
MC_BUFFER_MODE_BUFFERED = 1 = Buffered

  Range
  Unit N/A
  Default

Output

Done Description If True, then the command completed successfully.
  Data type BOOL
Busy Description If True, then the function block is executing.
  Data type BOOL
Active Description If True, then the function block is controlling motion.
  Data type BOOL
CommandAborted Description If True, command was aborted by another function block.
  Data type BOOL
Error Description If True, an error has occurred.
  Data type BOOL
ErrorID Description Indicates the error if Error output is set to TRUE. See table in PLCopen Function Block ErrorID Output.
  Data type INT

Example

Structure Text

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

IL

            BEGIN_ILClosed"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

Function Block Diagram

Ladder Diagram

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