TPM EasyPAC, User Manual, Page: 158 / 223

TPM
EasyPAC User Manual
158
6.6.5.12 MC_MoveAbsolute
Function
Make an absolute motion with T-curve or S-curve.
Input Parameters
Name Type Description
Axis AXIS_REF Reference to the axis.
Execute BOOL Please refer to the Execution Logic at section 6.6.5.
Position DINT (-134217728 ~ +134217728) Absolute target position of the motion.
StartVelocity DWORD Start velocity.
MaxVelocity DWORD End velocity.
TAcc REAL Acceleration time in the unit of second.
TDec REAL Deceleration time in the unit of second.
Curve BYTE Velocity profile. 0 for T-Curve, 1 for S-Curve.
Output Parameters
Name Type Description
Axis AXIS_REF Reference to the axis.
Done BOOL ‘Standstill’ or ‘Disabled’ state is reached.
Busy BOOL The FB is not finished and new output values are to be expected.
Active BOOL Indicates that the FB has control of the axis.
CommandAborted BOOL ‘Command’ is aborted by another command.
Error BOOL Signal that an error has occurred within the FB.
ErrorID INT Please refer to the Status Logic at section 6.6.8.