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 regardless of path.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A 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.
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_ACS = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS = 2	N/A	No default	The coordinate system used when commanding the direct absolute move. Currently, only the ACS coordinate system is supported. See Coordinate Systems for more information.
BufferMode	SINT One of these enumeration values: MC_BUFFER_MODE_ABORTING = 0 = Abort MC_BUFFER_MODE_BUFFERED = 1 = Buffered	No range	N/A	No default	Defines the chronological sequence of the function block relative to the previous block. See Buffer Modes for more information.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	If TRUE, the command completed successfully.
Busy	BOOL	No range	N/A	If TRUE, the function block is executing.
Active	BOOL	No range	N/A	If TRUE, the function block is controlling motion.
CommandAborted	BOOL	No range	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	No range	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See the table in PLCopen Function Block ErrorIDs.

Remarks

• See Coordinated Motion, the top-level topic for Coordinated Motion.
• See Function Blocks - General Rules for more information 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, Deceleration, Velocity, 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.
  • S-Curve motion is not currently supported.
  • The Jerk input is currently ignored.
  • S-Curve motion and the Jerk argument will be supported in a future release.

Figure 6-150: 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