MC_MoveAbsolute

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Function Block MC_MoveAbsolute

General Information
Available as of PLC runtime system V2.2
Included in library MC_Block_AC500_V11.lib
Type Function Block with historical values

See the following chapter to check if this Function Block is supported by the used axis implementation: Overview

For this Function Block there is a visualization in the Library MC_Blocks_AC500_V11.

See the following chapter for a list of available data types: Overview

This Function Block commands a controlled motion to a specified absolute position.

Note

  • This action completes with velocity zero if no further action are pending,
  • If there is only one mathematical solution to reach the commanded position (like in linear systems), the value of the input direction is ignored,
  • For modulo axis - valid absolute position values are in the range of [0, [360, (360 is excluded), or corresponding range. The application, however, may shift the commanded position of MC_MoveAbsolute into the corresponding modulo range. For relative positions, modulo 360 is applicable.
  • The Enum type “shortest_way” is focused to a trajectory which will go through the shortest route. The decision which direction to go is based on the current position where the command is issued.

Example

The following figure shows two examples of the combination of two Function Blocks MC_MoveAbsolute.

The left part of timing diagram illustrates the case if the second Function Block is called after the first one. If first reaches the commanded position of 6000 (and the velocity is 0) then the output Done causes the second Functino Block to move to the position 10000.

The right part of the timing diagram illustrates the case if the second move Function Block starts the execution while the first Function Block is still executing. In this case the first motion is interrupted and aborted by the test signal during the constant velocity of the first Function Block. The second Function Block moves directly to the position 10000 although the position of 6000 is not yet reached.

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These examples are based on two instances of the Function Block: Instance ”First“ and ”Second“.

Using this Function Block with FM562

Input Jerk: 1 = jerk on, 2 = jerk off

Input Direction: 0 = DEFAULT, 1 = POSITIVE, 3 = NEGATIVE

Input BufferMode: Not implemented