MC_MoveContinuousAbsolute, MCP_MoveContinuousAbsolute – Move to position (absolute coordinate)

Block SymbolsLicensing group: MOTION CONTROL

Function Description
The MC_MoveContinuousAbsolute and MCP_MoveContinuousAbsolute blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_MoveContinuousAbsolute block moves an axis to specified position as fast as possible. If no further action is pending, final velocity is specified by parameter EndVelocity. For blending purposes, start and stop velocity of this block is maximum velocity with direction respecting current and final position. If start velocity of next pending block is in opposite direction, then blending velocity is always zero.

If next pending block is executed too late in order to reach requested velocity the generated output depends on jerk setting. If no limit for jerk is used (block input Jerk is zero or unconnected) block uses maximum acceleration or deceleration to reach the desired velocity as near as possible. If jerk is limited it is not possible to say what is the nearest velocity because also acceleration is important. For this reason, the axis is stopped and moved backward and blending velocity is always reached. Although this seems to be correct solution, it might look confusing in a real situation. Therefore, it is recommended to reorganize execution order of the motion blocks and avoid this situation.

Note 1: If the EndVelocity is set to zero value, the block behaves in the same way as MC_MoveAbsolute.

Note 2: If next motion command is executed before the final position is reached, the block behaves in the same way as MC_MoveAbsolute.

Inputs

uAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Execute	The block is activated on rising edge	Bool
Position	Requested target position (absolute) [unit]	Double (F64)
Velocity	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)
BufferMode	Buffering mode	Long (I32)
	1 .... Aborting (start immediately) 2 .... Buffered (start after finish of previous motion) 3 .... Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 4 .... Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 5 .... Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity) 6 .... Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)
Direction	Direction of movement (cyclic axis or special case only)	Long (I32)
	1 .... Positive 2 .... Shortest 3 .... Negative 4 .... Current
EndVelocity	End velocity	Double (F64)

Outputs

yAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
InEndVelocity	Algorithm finished	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

Example

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