MoveAbsolute (absolute positioning)

This state makes traversing to the absolute position specified possible.

Executing absolute positioning is only possible with reference information available ( xIsHomed = TRUE).

In the MoveAbsolute status, the following actions are executed:

Creation of the motion profile for the MoveAbsolute function.

Modulo axes and linear axes are supported.

During the travel, the position can be changed by enabling the Execute input again.

If the xContinuousUpdate input is set, the profile is recalculated if the lrVel , lrAcc , lrDec or lrJerk input is changed after the start.

Inputs for this operating mode

Name Data type	Information/possible settings
xMoveAbsExecute BOOL	FALSE Ã¤ TRUE	Activate absolute positioning (MoveAbsolute). Cancellation of the function via the xAbort , xHalt or xQspApplication input.
xContinuousUpdate BOOL	TRUE	Inputs lrPos_Dist , lrVel , lrAcc , lrDec and lrJerk are checked cyclically with regard to changes and are accepted, Control input ContinuousUpdate
lrPos_Dist LREAL	Absolute target position in [unit] Reference for the absolute position is the zero position.
lrVel LREAL	Velocity in [unit/s] Specification of the maximum velocity at which positioning is to be carried out. Only positive values permissible.
lrAcc LREAL	Acceleration in [unit/s ² ] Specification of the maximum velocity variation which is to be used for acceleration. Only values higher than 0 are permissible.
lrDec LREAL	Deceleration in [unit/s ² ] Specification of the velocity variation which is to be used for maximum deceleration to standstill. Only values higher than 0 are permissible.
lrJerk LREAL	Jerk in [unit/s ³ ] Only positive values permissible. With the value 0, the jerk defined in the axis data (subindex 43 ) is used. If this jerk is not defined, linear ramps are used for traversing.
eDirection MC_DIRECTION	The selection of the traversing direction is only reasonable in the "Modulo" traversing range Please observe the notes in the Behaviour in the Modulo traversing range section of the MC_MoveAbsolute FB SubIndex 135, ToleranceWindowModuloPositioning Traversing direction: mcCurrentDirection: Maintain current direction mcPositiveDirection: Positive direction mcNegativeDirection: Negative direction mcShortestWay: Shortest way mcPositiveCycle mcNegativeCycle MC_DIRECTION

Name

Data type

Information/possible settings

xMoveAbsExecute

BOOL

FALSE Ã¤ TRUE

Activate absolute positioning (MoveAbsolute).

Cancellation of the function via the xAbort , xHalt or xQspApplication input.

xContinuousUpdate

BOOL

TRUE

Inputs lrPos_Dist , lrVel , lrAcc , lrDec and lrJerk are checked cyclically with regard to changes and are accepted,

Control input ContinuousUpdate

lrPos_Dist

LREAL

Absolute target position in [unit]

Reference for the absolute position is the zero position.

lrVel

LREAL

Velocity in [unit/s]

Specification of the maximum velocity at which positioning is to be carried out.

Only positive values permissible.

lrAcc

LREAL

Acceleration in [unit/s ² ]

Specification of the maximum velocity variation which is to be used for acceleration.

Only values higher than 0 are permissible.

lrDec

LREAL

Deceleration in [unit/s ² ]

Specification of the velocity variation which is to be used for maximum deceleration to standstill.

Only values higher than 0 are permissible.

lrJerk

LREAL

Jerk in [unit/s ³ ]

Only positive values permissible.

With the value 0, the jerk defined in the axis data (subindex 43 ) is used. If this jerk is not defined, linear ramps are used for traversing.

eDirection

MC_DIRECTION

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

Please observe the notes in the Behaviour in the Modulo traversing range section of the MC_MoveAbsolute FB

SubIndex 135, ToleranceWindowModuloPositioning

Traversing direction:

mcCurrentDirection: Maintain current direction

mcPositiveDirection: Positive direction

mcNegativeDirection: Negative direction

mcShortestWay: Shortest way

mcPositiveCycle

mcNegativeCycle

MC_DIRECTION

Outputs for this operating mode

Name Data type	Value/meaning
lrActPos LREAL	Current position in [unit]
lrActVel LREAL	Current velocity in [unit/s]
lrActFollowingError LREAL	Current following error in [unit]
lrSetPosOut LREAL	Setpoint position in [unit]
lrSetVelOut LREAL	Setpoint velocity in [unit/s]
xConstantVelocity BOOL	TRUE	The speed specified lrVel has been reached for the first time.
xAccelerating BOOL	TRUE	Axis is accelerated. (Increase in the speed value.)
xDecelerating BOOL	TRUE	Axis is decelerated/braked. (Decrease in the speed value.)
xDirectionPositive BOOL	TRUE	Axis traverses in positive direction.
xDirectionNegative BOOL	TRUE	Axis traverses in negative direction.
xInPosition BOOL	TRUE	Target position reached The behaviour of the output can be parameterised via the parameters in the Axis Ref subindex 130 and 131.