Absolute positioning linear interpolation operation with MC_MoveLinearAbsolute

MC_MoveLinearAbsolute gives an absolute linear interpolation movement command to an axis group. Axes in the group must be homed before performing MC_MoveLinearAbsolute. The Position input is an array of positions to set the axes positions to.

  • The position array entries correspond to the order of the axis ID (1~10).

  • Refer to Chapter 8.2.7 of the XMC manual for more information about linear interpolation control.

  • LS_Connect, MC_GroupEnable and MC_GroupPower (or equivalent) must be executed before this function block.

  • The examples in this topic can be found in the XMC_AxisGroup_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
AxesGroup Input/Output Set the group to execute the function block on. Group number 1-16. This must be an UINT variable.
Position Input Specify the target position of each axis.
Velocity Input Specify the maximum speed of the movement.
Acceleration Input Specify the maximum acceleration.
Deceleration Input Specify the maximum deceleration.
Jerk Input Specify the change in rate of acceleration/deceleration.
BufferMode Input Specify the sequential operation setting. See Buffer Mode table below.
TransitionMode Input Specify the route change mode of the group operation. See Section 6.1.6 of XMC manual for more information.
TransitionParameter Input Specify the parameter of the route change setting. See Section 6.1.6 of XMC manual for more information.
Done Output Indicates the completion of the function block execution.
Busy Output Indicates the function block is in operation.
Active Output Indicates the function block is controlling the group.
CommandAborted Output Indicates the function block has been aborted.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.

BufferMode Table

Value Buffer Mode Description
0 Aborting Abort previous command and execute the command immediately.
1 Buffered Execute the command after previous command is completed.
2 BlendingLow The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3 BlendingPrevious The new command is blended into a previous command using the velocity of the previous command.
4 BlendingNext The new command is blended into a previous command using the velocity from the new command.
5 BlendingHigh The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

Position Array:

[0] – Axis 1 position

[1] – Axis 2 position

[2] – Axis 3 position

[3] – Axis 4 position

Before MC_MoveLinearAbsolute

After MC_MoveLinearAbsolute

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM711