Parker Compax3 Fluid T40

Parker EME
Motion control
192-121102 N04 June 2008 179
5.6.2. Absolute positioning (MC_MoveAbsolute)
FB name MC_MoveAbsolute
Absolute positioning to a specified position.
VAR_IN_OUT
Axis
INT Axis-ID (library constants)
VAR_INPUT
Execute
BOOL Starts the sequences of the module with positive edge
Position
REAL
Absolute target position of the movement to be executed
(configured unit [Units] ) (positive and negative direction)
<value range> (see page Fehler! Textmarke nicht
definiert.)
Velocity
REAL
Value of the maximum speed (always positive) (not
necessarily reached) <value range> (see page Fehler!
Textmarke nicht definiert.)
[Units/s]
Acceleration
DINT Value of acceleration (always positive) [Units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Deceleration
DINT Value of deceleration (always positive) [Units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Jerk
DINT Value of the acceleration jerk (see page 183) [Units/s³]
(al
ways positive) <value range> (see page Fehler!
Textmarke nicht definiert.)
JerkDecel
DINT
Value of deceleration jerk [Units/s³] (always positive)
<value range> (see page Fehler! Textmarke nicht
definiert.)
VAR_OUTPUT
Done
BOOL
Specified setpoint position on the setpoint generator output
is reached
CommandAborted
BOOL Positioning aborted
Error
BOOL Error while executing module
Note: -
 If a SuperImposed movement is started during an absolute movement, the
absolute position is not accessed, but the absolute position plus the position
entered in the SuperImposed.
 The same applies if a SuperImposed movement is already being executed and an
absolute movement is started, then the absolute position is not accessed but the
sum of both values.
 After the SuperImposed movement has been finished, the absolute position is
accessed with the next absolute movement.
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see page 150)
software tool!