MC_MoveDirectAbsolute
This Function Block commands a movement of an axes group to the specified absolute position in the specified coordinate system without taking care of how (on which path) the target position is reached.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
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VAR_IN_OUT
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| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Execute |
BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| B | Position |
VECTOR | An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities. | Array of LREAL#0.0 |
| V | LimitVelocity |
LREAL | Maximum allowable velocity in user units/sec. On a remote hosted robot, this parameter is in percentage of the maximum rating for the robot. | LREAL#0.0 |
| V | LimitAccel |
LREAL | The maximum allowable acceleration in user units/sec2. On a remote hosted robot, this parameter is in percentage of the maximum rating for the robot. | LREAL#0.0 |
| V | LimitDecel |
LREAL | The maximum allowable deceleration in user units/sec2. On a remote hosted robot, this parameter is in percentage of the maximum rating for the robot. | LREAL#0.0 |
| V | LimitJerk |
LREAL | Maximum allowable jerk in user units/sec3. On a remote hosted robot, this parameter is in percentage of the maximum rating for the robot. | LREAL#0.0 |
| V | MoveOptions |
Yt_GroupMoveOptions | Commands to specify the pose of a robot mechanism, set Cartesian or rotational velocity, velocity units, etc. | All zeros in structure |
| E | CoordSystem |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. | MC_CoordinateSystem#ACS |
| E | BufferMode |
MC_BufferMode | Defines the behavior of the group - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. | MC_BufferMode#Aborting |
| E | TransitionMode |
MC_TransitionMode | Specifies how segments are blended together when multiple MC_MoveLinear and MC_MoveCircular function blocks are buffered. | MC_TransitionMode#TMNone |
| E | TransitionParameter |
VECTOR | Additional parameters for the selected TransitionMode. See detailed section about TransitionParameter. | Array of LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Done |
BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | Active |
BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| E | CommandAborted |
BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
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Notes
- This function block is supported only for MotomanSync groups.
Error Description
See the Function Block ErrorID List.