MC_MoveAbsolute (motion control move absolute)

The MC_MoveAbsolute instruction commands a controlled motion to a specified absolute position.
Operation details:
  • For the
    Micro800
     controller
    • The sign of the input Velocity for a MC_MoveAbsolute function block is ignored because the motion direction is determined by the Current position and the Target position.
    • The input Direction for a MC_MoveAbsolute function block is ignored because there is only one mathematical solution to reach the Target position.
  • If the MC_MoveAbsolute function block is issued when the
    Micro800
     controller axis state is Standstill and the relative distance to move is zero, the execution of the function block is immediately reported as Done.
  • If a MC_MoveAbsolute function block is issued to an axis that is not in the Homed position, the function block reports an error.
  • The MoveAbsolute function block completes with Velocity zero if it is not overridden by another function block.
Languages supported: Function block diagram, ladder diagram, structured text.
This instruction applies to the L50E and L70E controllers that support motion control.
MC_MoveAbsolute
MC_MoveAbsolute
MC_MoveAbsolute parameters
Parameter
Parameter Type
Data Type
Description
EN
Input
BOOL
Instruction block enable.
  • TRUE: Execute current MC_MoveAbsolute computation.
  • FALSE: There is no computation.
Applies only to ladder diagram programs.
AxisIn
Input
AXIS_REF
Use the AXIS_REF data type parameters to define AxisIn.
Execute
Input
BOOL
Indicates when to start motion.
  • TRUE: Start the motion at rising edge.
  • FALSE: Do not start motion.
The axis should be in the home position when this execute command is issued or an error occurs, MC_FB_ERR_NOT_HOMED.
Position
Input
REAL
Target position for the motion in technical unit (negative or positive).
The technical unit is defined in the
Axis - General
 tab for an axis.
Velocity
Input
REAL
Value of the maximum velocity.
The maximum velocity might not be reached when Jerk = 0.
The sign of Velocity is ignored, the motion direction is determined by the input Position.
Acceleration
Input
REAL
Value of the acceleration (always positive - increasing energy to the motor.)
user unit/sec
2
Deceleration
Input
REAL
Value of the deceleration (always positive - decreasing energy to the motor).
u/sec
2
Jerk
Input
REAL
Value of the Jerk (always positive).
u/sec
3
When the value of the input Jerk = 0, the Trapezoid profile is calculated by Motion Engine. When Jerk > 0, the S-Curve profile is calculated.
Direction
Input
SINT
This parameter is not used.
BufferMode
Input
SINT
This parameter is not used.
ENO
Output
BOOL
Enable output.
Applies only to ladder diagram programs.
Axis
Output
Axis output is read-only in ladder diagram programs.
Done
Output
BOOL
When TRUE, command position reached.
When the in-position input is configured as Enabled for this axis, the drive needs to set in-position input signal active before this Done bit goes to True.
This action completes with velocity zero unless it is cancelled.
Busy
Output
BOOL
When TRUE, the function block is not finished.
Active
Output
BOOL
When TRUE, indicates that the function block has control of the axis
CommandAborted
Output
BOOL
When TRUE, the Command was overridden by another command, or error stop.
Error
Output
BOOL
Indicates an error occurred.
  • TRUE: An error is detected.
  • FALSE: No error.
ErrorID
Output
UINT
A unique numeric that identifies the error. The errors for this instruction are defined in Motion control function block error IDs.

MC_MoveAbsolute examples

MC_MoveAbsolute function block diagram example
MC_MoveAbsolute function block diagram example
MC_MoveAbsolute ladder diagram example
MC_MoveAbsolute ladder diagram example
MC_MoveAbsolute structured text example
MC_MoveAbsolute structured text example
Results
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