MC_MoveDirAbs

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Function Block - Commands movement of an axes group to an absolute position regardless of path.

Inputs

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

FALSE, TRUE

N/A

No default

On the rising 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[ ]

Dimension: The number of axes in the AxesGroup.

No range

User units

No default

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

CoordSystem

SINT

Enumerated

N/A

No default

The coordinate system used when commanding the direct absolute move.

Only the ACS and MCS coordinate system are supported.
See Coordinate Systems.

One of these enumeration values:

Value	Description
CS_ACS	Axes Coordinate System
CS_MCS	Machine Coordinate System
CS_PCS	Product Coordinate System

BufferMode

SINT

Enumerated

N/A

No default

Defines the chronological sequence of the function block relative to the previous block.
Blending buffer modes are not supported by direct moves.

These are the valid buffer modes for this function block:

Value	Description
BM_ABORTING	Aborting Mode
BM_BUFFERED	Buffered Mode

See Buffer Modes for detailed information.

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	Enumerated	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.

- 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 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.

- 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

Not available.

ST Language Example

Inst_MC_MoveDirAbs(DirectMove, Group1_Ref, PositionList, CS_ACS, BM_ABORTING);