MoveDirAbs (point-to-point motion to absolute position)

This state allows for coordinated traversing to the specified absolute position via point-to-point motion ( MC_MoveDirectAbsolute ).

Inputs for this operating mode

Name

Data type

Information/possible settings

scPar

L_MC4P_AGBC_Parameter

Structure of the required FB parameters

Parameter (structure L_MC4P_AGBC_Parameter)

xMoveDirAbsExecute

BOOL

FALSE รค TRUE

Instruct to move the axes group to an absolute position in the specified coordinate system by means of a direct positioning.

MC_MoveDirectAbsolute

alrSetPosDist

ARRAY [1..12] OF LREAL

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:
    • Target position of the optionally available auxiliary axes

eCoordSystem

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

Outputs for this operating mode

Name

Data type

Value/meaning

alrSetPosOut

ARRAY [1..12] OF LREAL

Setpoint position in the selected eCoordSystem coordinate system

alrActPos

ARRAY [1..12] OF LREAL

Current actual position in the selected eCoordSystem coordinate system

alrActFollowingError

ARRAY [1..12] OF LREAL

Current following error in the selected eCoordSystem coordinate system

alrSetVelOut

ARRAY [1..12] OF LREAL

Setpoint velocity in the selected eCoordSystem coordinate system

alrActVel

ARRAY [1..12] OF LREAL

Current actual velocity in the selected eCoordSystem coordinate system

lrSetPathVelOut

LREAL

TCP velocity

lrSetPathAccOut

LREAL

Acceleration of the TCP towards path direction

lrSetTCPAccOut

LREAL

Total acceleration of the TCP

lrSetRotVelOut

LREAL

Rotational velocity of the TCP in the axis/angle view

lrSetRotAccOut

LREAL

Rotational acceleration of the TCP in axis/angle view

Parameters for this operating mode

Name

Value/meaning

aeDirection

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