MC_MoveAbsolute

This FB serves to carry out a positioning to an absolute target position. After reaching the target position, the axis is at standstill if no further motion commands are pending.

Note!

For absolute positioning processes, the home position must be known!

		MC_MoveAbsolute
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
BOOL	-	ContinuousUpdate	Active	-	BOOL
LREAL	-	Position	CommandAborted	-	BOOL
LREAL	-	Velocity	Error	-	BOOL
LREAL	-	Acceleration	ErrorID	-	L_IE1P_Error
LREAL	-	Deceleration
LREAL	-	Jerk
MC_DIRECTION	-	Direction
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Start positioning.
ContinuousUpdate BOOL	Continuous acceptance of the profile parameters Control input ContinuousUpdate
FALSE	The profile parameters ( Position , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .
TRUE	The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.
Position LREAL	Absolute target position in [unit] Reference for the absolute position is the zero position.
Velocity LREAL	Maximum velocity in [unit/s] for approaching the target position Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity. Special case : Velocity = 0: The default value defined in subindex 40 is used for the velocity.
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Special case : Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.
Direction MC_DIRECTION	The selection of the traversing direction is only reasonable in the "Modulo" traversing range Pay attention to the notes in the section Behaviour in the Modulo traversing range SubIndex 135, ToleranceWindowModuloPositioning Traversing direction: mcCurrentDirection: Maintain current direction mcPositiveDirection: Positive direction mcNegativeDirection: Negative direction mcShortestWay: Shortest way mcPositiveCycle mcNegativeCycle MC_DIRECTION
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Start positioning.

ContinuousUpdate

BOOL

Continuous acceptance of the profile parameters

Control input ContinuousUpdate

FALSE

The profile parameters ( Position , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .

TRUE

The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.

Position

LREAL

Absolute target position in [unit]

Reference for the absolute position is the zero position.

Velocity

LREAL

Maximum velocity in [unit/s] for approaching the target position

Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity.

Special case :

Velocity = 0: The default value defined in subindex 40 is used for the velocity.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Special case :

Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

Direction

MC_DIRECTION

The selection of the traversing direction is only reasonable in the "Modulo" traversing range

Pay attention to the notes in the section Behaviour in the Modulo traversing range

SubIndex 135, ToleranceWindowModuloPositioning

Traversing direction:

mcCurrentDirection: Maintain current direction

mcPositiveDirection: Positive direction

mcNegativeDirection: Negative direction

mcShortestWay: Shortest way

mcPositiveCycle

mcNegativeCycle

MC_DIRECTION

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Positioning completed successfully.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

In the following example, two FB instances of MC_MoveAbsolute are connected in series as a cascade.

Case

: FB2 will only be started after FB1 has reached its commanded position "6000" (with a velocity = "0").

The Done output of FB1 starts the execution of FB2.

FB2 traverses the axis to the commanded position "10000".

Case

: FB2 is started (by means of a test signal) before FB1 has reached its commanded position.

The execution of FB1 is aborted ( CommandAborted = TRUE).

FB2 traverses the axis to the commanded position "10000".

Example: Linking two MC_MoveAbsolute commands

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