MC_MoveLinearAbsolute

Function block		MC_MoveLinearAbsolute
Commands an interpolated linear movement on an axis group from the current position of the tool center point to an absolute position in the specified coordinate system.
VAR_IN_OUT
B	GroupIn	AXES_GROUP_REF	Reference to a group of axes. References are zero based. You can have up to 32 groups.
VAR_INPUT
B	Execute	BOOL	Starts the motion at rising edge.
V	ContinuousUpdate	BOOL	If TRUE, when the function block (FB) is running and the values of the parameters are updated, the FB will use the new value. If FALSE, the FB won't use the new value. NOTE:  This parameter is not supported.
B	Position	ARRAY [0..63] OF LREAL	ARRAY [0..63] of absolute end positions for each dimension in the specified coordinate system.
E	Velocity	LREAL	Maximum velocity of the path for the coordinate system in which the path is defined. Always positive. Not necessarily reached. [unit/second]
E	Acceleration	LREAL	Maximum acceleration. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second2] or [second]
E	Deceleration	LREAL	Maximum deceleration. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second2] or [second]
E	Jerk	LREAL	Maximum jerk. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second3] or [second]
E	CoordSystem	MC_CoordSystem	A coordinate system.
E	BufferMode	MC_BufferMode	Defines how to blend the velocity of two function blocks.
E	TransitionMode	MC_TransitionMode	Inserts a transition curve.
E	TransitionParameter	ARRAY [0..63] OF LREAL	Additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.
VAR_OUTPUT
B	Done	BOOL	Commanded end positions reached for all axes.
E	Busy	BOOL	The function block is not finished.
E	Active	BOOL	The function block has control on the axis group.
E	CommandAborted	BOOL	The command is aborted by another command.
B	Error	BOOL	Signals that an error has occurred within the function block.
E	ErrorID	MC_Error	Error identification.
For more information about how absolute, relative, and additive work, see Motion. For more information about how the blending modes work, see Concepts > Blend movements. When you use blending in MoveLinear functions, you need to select a TransitionMode and fill in TransitionParameter. If you set them to mcNone and NULL with a blending mode, an error will occur.

 

		MC_MoveLinearAbsolute
AXES_GROUP_REF		GroupIn		Group		AXES_GROUP_REF
BOOL		Execute		Done		BOOL
BOOL		ContinuousUpdate		Busy		BOOL
ARRAY [0..63] OF LREAL		Position		Active		BOOL
LREAL		Velocity		CommandAborted		BOOL
LREAL		Acceleration		Error		BOOL
LREAL		Deceleration		ErrorID		MC_Error
LREAL		Jerk
MC_CoordSystem		CoordSystem
MC_BufferMode		BufferMode
MC_TransitionMode		TransitionMode
ARRAY [0..63] OF LREAL		TransitionParameter

 

 

Timing diagram for the example above. The curve is the position of the endpoint on the X/Y axis. The dots on the red line represent the velocity. The further the dots are apart, the faster the velocity is.