The MC_MoveAbsolute instruction moves the axis to a specified absolute target position.
Instruction Name FB/
FUN Graphic expression ST expression
MC_MoveAbso-lute
Absolute Po-sitioning
FB
BufferMode
MC_MoveAbsolute_instance
Deceleration
Active
Axis Axis
Execute Done
Position Busy
Acceleration
Error Jerk
Direction
MC_MoveAbsolute
Velocity
CommandAborted
ErrorID
MC_MoveAbsolute_instance ( Axis :=parameter,
Execute :=parameter, Position :=parameter, Velocity :=parameter, Acceleration :=parameter, Deceleration :=parameter, Jerk :=parameter, Direction :=parameter, BufferMode :=parameter, Done =>parameter, Busy =>parameter, Active =>parameter,
CommandAborted =>parameter, Error =>parameter,
ErrorID =>parameter );
Variables
Input Variables
Name Meaning Data type Valid range
De-fault Description
Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when
the value of this variable changes to TRUE.
Position Target Posi-tion
LREAL Negative number, posi-tive number, or 0
0 Specify the absolute target posi-tion.
The unit is command units.*1 Velocity Target
Ve-locity
LREAL Positive number 0 Specify the target velocity.*2 The unit is command units/s.*1 Acceleration Acceleration
Rate
LREAL Non-negative number 0 Specify the acceleration rate.
The unit is command units/s2.*1 Deceleration
Decelera-tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s2.*1
Jerk Jerk LREAL Non-negative number 0 Specify the jerk.
The unit is command units/s3.*1
Name Meaning Data type Valid range
De-fault Description
Direction Direction _eMC_DIREC-TION
0: _mcPositiveDirection 1: _mcShortestWay 2: _mcNegativeDirection 3: _mcCurrentDirection 4: _mcNoDirection
0*3 Specify the direction of rotation when the Count Mode is Rotary Mode.
0: Positive direction 1: Shortest way 2: Negative direction 3: Current direction 4: No direction specified BufferMode Buffer Mode
Selection
_eMC_BUF-FER_MODE
0: _mcAborting 1: _mcBuffered 2: _mcBlendingLow 3: _mcBlendingPrevious 4: _mcBlendingNext 5: _mcBlendingHigh
0*3 Specify the behavior when execut-ing more than one motion instruc-tion.
0: Aborting 1: Buffered 2: Blending low 3: Blending previous 4: Blending next 5: Blending high
*1. Refer to Unit Conversion Settings in the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for information on command units.
*2. Always set the target velocity. If the axis is moved without setting a target velocity, an error will occur.
*3. The default value for an enumeration variable is actually not the number, but the enumerator.
Output Variables
Name Meaning Data
type
Valid
range Description
Done Done BOOL TRUE or
FALSE
TRUE when the instruction is completed.
Busy Executing BOOL TRUE or
FALSE
TRUE when the instruction is acknowledged.
Active Controlling BOOL TRUE or
FALSE
TRUE when the axis is being controlled.
CommandAborted Command Aborted
BOOL TRUE or
FALSE
TRUE when the instruction is aborted.
Error Error BOOL TRUE or
FALSE
TRUE while there is an error.
ErrorID Error Code WORD *1 Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the event codes.
Output Variable Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Done When positioning is completed.
•
When Execute is TRUE and changes toFALSE.
•
After one period when Execute is FALSE.Busy When Execute changes to TRUE.
•
When Done changes to TRUE.•
When Error changes to TRUE.•
When CommandAborted changes to TRUE.MC_MoveAbsolute
3
Variables
Name Timing for changing to TRUE Timing for changing to FALSE
Active When the instruction is started.
•
When Done changes to TRUE.•
When Error changes to TRUE.•
When CommandAborted changes to TRUE.CommandAborted
•
When this instruction is aborted because an-other motion control instruction was executed with the Buffer Mode set to Aborting.•
When this instruction is canceled due to an er-ror.•
When this instruction is executed while there is an error.•
When you start this instruction during MC_Stop instruction execution.•
When Execute is TRUE and changes to FALSE.•
After one period when Execute is FALSE.Error When there is an error in the execution condi-tions or input parameters for the instruction.
When the error is cleared.
In-Out Variables
Name Meaning Data type Valid
range Description
Axis Axis _sAXIS_REF --- Specifies the axis. *1
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-is*) or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*], or _MC2_AX[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axis variable name for AT specifi-cation of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
Function
• The absolute target position is specified to perform positioning.
• Absolute positioning starts when Execute changes to TRUE.
• You can execute this instruction even if home is not defined.
• You can specify the Velocity (Target Velocity), Acceleration (Acceleration Rate), Deceleration (De-celeration Rate), and Jerk as input variables.
The following chart shows an operation example of absolute positioning.
Velocity
Target distance Time Command current
position
Deceleration Acceleration
Target velocity
0
When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0 and the instruction is executed, the axis will reach the target velocity without accelerating or decelerating.
The following chart shows an operation example of when the Acceleration (Acceleration Rate) is 0.
Target position Time Command current
position
Deceleration Target
velocity Velocity
0
Specify Jerk when you want to accelerate or decelerate smoothly.
The following chart shows an operation example when Jerk is specified.
0
Time Target position
Command current position Target
velocity Velocity