MC_MoveDirectAbsolute

This FB serves to execute a direct positioning for an axes group towards an absolute position in the specified coordinate system. With this type of motion, the resulting path of the TCP depends on the parameterised limitations of the drive axes and thus cannot be predicted intuitively. The fastest possible positioning mode is carried out. This does not mandatorily correspond to the shortest way.

  • The profile parameters of speed, acceleration and jerk are read from the default values (subindexes 40 , 41 and 43 ) of the respective assigned real axes for each drive axis.
  • The limitations entered using the L_MC4P_LimitDynamicsRealAxes FB act as an additional limitation or are used if no default values are entered in the respective assigned real axis.
  • After the target position has been reached, the axes of the axes group are in the "GroupStandby" state if no further motion commands are pending.
Danger!

All paths have to be first tested with override or in the simulation mode with virtual axes!

 

 

 

MC_MoveDirectAbsolute

 

 

 

AXES_GROUP_REF

-

AxesGroup

Done

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

ARRAY [1..12] OF LREAL

-

Position

Active

-

BOOL

L_MC4P_CoordSystem

-

CoordSystem

CommandAborted

-

BOOL

MC_BUFFER_MODE

-

BufferMode

Error

-

BOOL

MC_TRANSITION_MODE

-

TransitionMode

ErrorID

-

L_IE1P_Error

ARRAY [ 1..12 ] OF LREAL

-

TransitionParameter

ARRAY [ 1..6 ] OF INT

-

aiTargetConfiguration

ARRAY [ 1..6 ] OF MC_DIRECTION

-

Direction

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

Execute

BOOL

FALSE รค TRUE

Start positioning.

Position

ARRAY [1..12] OF LREAL

Array with absolute target coordinates in [unit]

  • Reference for the absolute position is the zero position.

Absolute target position of the movement

  • [1; 6]
    • Coordsystem = ACS: Target position of the drive axes
    • Coordsystem = WCS , MCS or PCS : Target position of the TCP in the selected coordinate system
  • Index 7 ... 12:
    • Reserved (auxiliary axes are not supported for MC_MoveDirectAbsolute).

CoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system to be used:

  • WCS: World Coordinate System
  • MCS: Machine Coordinate System
  • ACS: Axes Coordinate System
  • PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Coordinate systems and transformations

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

TransitionMode

MC_TRANSITION_MODE

Mode for the path behaviour at the motion end

TransitionMode and TransitionParameter

TransitionParameter

ARRAY [1..12] OF LREAL

Description of the TransitionParameter parameter
Parameters for "Overloops"

Only relevant if TransitionMode = TMCornerDistance has been selected.

* TransitionParameter[1]

  • MoveDirect does not support looping with absolute distances to the starting point.
  • Entered values are ignored

* TransitionParameter[2]

  • Specification of the blending radius of the starting point or to the previous movement relative to half the distance of the movements in [%].
  • The percentage ratio is evaluated individually for each axis involved
  • Value is used if TransitionParameter[2] > 0

* TransitionParameter[3...12]

  • Reserved for future functional enhancements

aiTargetConfiguration

ARRAY [1..6] OF INT

Specification target configuration for kinematics with ambiguous backward transformation and specification of the target coordinates in the WCS , MCS or PCS _x

  • Meaning of the target configuration is kinematic-specific.
  • Specification is not considered when CoordSystem = ACS.

-1 or 1

Use configuration from FB interface.

0

Maintain start configuration.

Direction

ARRAY [1..6] OF MC_DIRECTION

Direction select for drive axes parameterised as "Modulo" (ACS axes)

Index 1 ... 6: Drive axes A1 ... A6

Permitted selection:

  • mcPositiveDirection : Positive direction
  • mcNegativeDirection : Negative direction
  • mcShortestWay : Shortest way (default)

Modes mcCurrentDirection , mcPositiveCycle and mcNegativeCycle are not supported.

See also: Direction selection for Modulo axes

Outputs

Name

Data type

Value/meaning

Done

BOOL

TRUE

Positioning completed successfully.

Busy

BOOL

TRUE

Processing is running.

  • The Busy output matters if a motion control is carried out by several FBs (BufferMode).

Active

BOOL

TRUE

The command of the FB is currently executed.

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.