Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 118)

L-force | PLC Designer - SoftMotion
The SM_PLCopen.lib library
POUs for the motion control of individual axes
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DMS 5.2 EN 03/2011 TD17
6.2.13 MC_MoveAbsolute
This program organisation unit from SM_PLCopen.lib moves the axis to an absolute
position in accordance with the defined velocity, deceleration and acceleration values. In
the case of a linear axis, the direction value is of no significance; in the case of rotating axes
it determines the direction of rotation.
Input/output (VAR_IN_OUT)
Axis : AXIS_REF
The structure that is filled with axis data in the Drive Interface (SM_DriveBasic.lib) is shown
here.
Inputs (VAR_IN)
Execute : BOOL (default: FALSE)
The program organisation unit is activated on a rising edge.
Position : REAL
Target position for the motion (technical unit [u])
Velocity : REAL
Value of the setpoint velocity that does not necessarily have to be reached [u/s]
Acceleration : REAL
Desired acceleration [u/s²]
Deceleration : REAL
Desired deceleration [u/s²]
nDirection : MC_Direction (default: shortest)
This enumeration value specifies the desired direction, which is only relevant for rotating
axes: see SM_DriveBasic.lib. Permissible values: current (current direction of motion),
positive, negative, shortest (shortest distance as viewed from the current position), fastest
(direction that would complete the motion in the fastest time possible).