User manual

4. Motion Control Instructions
4-8 DVP-MC operating manual
4.4. Single-Axis Instruction Usage
4.4.1. MC_MoveAbsolute
API
Controller
01
MC_MoveAbsolute
Move absolutely
10MC11T
Explanation of the Instruction:
MC_MoveAbsolute is applied to control the terminal actuator to move to the target position relative to the zero
point at the given speed, acceleration and deceleration. Once this instruction is aborted in process of motion,
the uncompleted distance left will be ignored and the new instruction will be executed subsequently.
Explanation of input and output parameter of the instruction:
Parameter
name
Explanation
Data
type
Available
device
Axis The node address of servo drive UINT Constant, D
Execute
This instruction is executed when “Execute” turns Off
->On.
BOOL
M,I,Q,
Constant
Position
The target position for the terminal actuator with zero point
as the reference point.
Unit: Unit. ( See section 2.3.1 on axis parameter setting)
For rotary axis, 0≤ Position< modulo.
REAL Constant, D
Velocity
Running speed of terminal actuator and this parameter is
always positive. (Unit: unit/second).
REAL Constant, D
Acceleration
Acceleration of terminal actuator and this parameter is
always positive.(Unit: unit/second2)
REAL Constant, D
Deceleration
Deceleration of terminal actuator and this parameter is
always positive.(Unit: unit/second2)
REAL Constant, D
Direction
The direction for servo motor rotation
0: the direction for the shortest distance ;
1: positive direction;
-1: negative direction;
2: extends the current direction
The parameter will be effective only for rotary axis.
INT Constant, D
Done
When absolute position execution is finished, "Done" turns
on; when “execute” is off, "Done" is reset.
BOOL M,Q