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This function block performs an absolute movement using the specified parameters after an event on the drive. This can result in very fast reactions when compared to starting a movement from the controller.

Additional characteristics:

•Before this function block can be used for a real axis, the axis must be homed.

•ACOPOS ParIDs can be used as the event source.

•The event is also permitted to occur while the axis is performing a (basis) movement.

•If "Mode" equals mcCYCLIC or mcCYCLIC_ALL_EVENTS, new movement parameter can be specified by a new rising edge on input "Execute".

•This function block can be aborted by MC_Stop, MC_Halt, MC_Power and all other basis motion function blocks.

•After the MC_BR_EventMoveAbsolute function block has been started (i.e. the parameters have been transferred and the event is awaited), the PLCopen axis state changes as follows:

Information:

(For versions > V2.270)

PLCopen motion parameter "DefaultMoveParameters" (1012) selects which values are used for "Velocity", "Acceleration" and "Deceleration" if these inputs are not assigned or written to with value "0". If this parameter is not written to, then the behavior remains the same as in earlier versions. For a detailed description of this option, see Important points.

Information:

•If an MC_Movexxx- or MC_BR_EventMovexxx function block is aborted by an MC_BR_EventMovexxx function block, the first one immediately reports "CommandAborted" even though the movement can be terminated properly (e.g. the event for the new function block occurs only after a previous basis movement was terminated at the target position).

•If the MC_TorqueControl or MC_BR_TorqueControl function block is active, it cannot be aborted by this function block. The error 29207: This movement type is currently not allowed. will be reported.

General information for starting a movement with this function block

Setting the "Execute" input to TRUE transfers all parameters to the drive and waiting for the event is put into effect. The "Busy" output is set immediately. "WaitingForEvent" is set if all parameters have been configured correctly.

If the "PositionParID" input ≠ 0, the values on the "Position" and "Direction" inputs are ignored. In this case, the target position for the movement is read from the defined ParID.

Caution!

If the "PositionParID" input is used, the target position is specified in axis units with the "DINT" data type. In addition, it is not possible to use automatic positioning within any defined axis period.

Parameters can be changed online while this function block is active by setting the "Execute" input again.