MMF_MOVE: Absolute Move

Function Description

This function block issues an MMFStart Immediate Absolute Move.

Additional parameters and may be configured.

FBD Representation

Representation:

LD Representation

Representation:

IL Representation

CAL MMF_MOVE_Instance (S:=returnHome, R:=atHome, AXIS_ID:=1,
    POSITION:=0.0, SPEED:=1500.0, MFB:=MFB, Q=>movingHome)

ST Representation

MMF_MOVE_Instance (S:=returnHome, R:=atHome, AXIS_ID:=1,
    POSITION:=0.0, SPEED:=1500.0, MFB:=MFB, Q=>movingHome) ;

Parameter Description

Description of input parameters.

Parameter	Data Type	Meaning
S	BOOL	Rising input starts move.
R	BOOL	Resets block and prevents move from starting (it does not halt a move in progress).
AXIS_ID	INT	Single Axis ID for this move.
POSITION	REAL	Absolute Position to move to.
SPEED	REAL	Constant speed of the move.

Description of in-output parameters.

Parameter	Data Type	Meaning
MFB	MMFBlock	Must be connected to the MMFStart block of 200 registers location (usually named MFB).

Description of output parameters.

Parameter	Data Type	Meaning
Q	BOOL	True when move subroutine has been recognized by motion controller (reset by R).
ERROR	INT	First error code that is generated upon attempting to start this move.

Example

returnHome turns on to command an absolute move to zero for axis number 1. atHome turns on when Q turns on and the axis IN_POSITION bit is set. This causes the MMF_MOVE block to be reset.

Runtime Errors

For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.

EN stands for ENable; it is an optional block input. When the EN input is enabled, an ENO output is set automatically.

If EN = 0, the block is not enabled; its internal program is not executed, and ENO is set to 0.

If EN = 1, the block's internal program is run and ENO is set to 1. If an error occurs, ENO is set to 0.

If the EN input is not connected, it is set automatically to 1.

ENO

ENO stands for Error NOtification; this is the output associated with the optional input EN.

If ENO is set to 0 (because EN = 0 or in case of an execution error):

the status of the function block outputs remains the same as it was during the previous scanning cycle that executed correctly;
the output(s) of the function, as well as the procedures, are set to "0".

REAL

The REAL type is encoded in a 32 bit format.

The possible value ranges are shown in the figure below:

When a result is:

between -1,175494e-38 and 1,175494e-38, it is considered to be a DEN;
less than -3.402824e+38, the symbol -INF (for - infinity) is displayed;
greater than +3.402824e+38, the symbol INF (for + infinity) is displayed;
undefined (square root of a negative number), the symbolNAN is displayed.

NOTE: The IEC 559 standard defines two classes of NAN: the silent NAN (QNAN) and the signaling NAN (SNAN). A QNAN is a NAN with a most significant fraction bit while an SNAN is a NAN without a most significant fraction bit (bit number 22). QNANs can be propagated via most arithmetic operations without throwing an exception. As for SNANs, they generally indicate n invalid operation when they are used as operands in arithmetic operations (see %SW17 and %S18).

NOTE: When a DEN (non-standardized number) is used as an operand, the result is not significant.