Motion Block
Description
Move To performs a relative coordinated move by the specified position parameters. The procedure requires as many parameters as there are dimensions in the axis group. For example, a single axis has one parameter while a group with three axes requires three parameters. The motion is performed with a trapezoidal velocity profile based on parameters set with the Set Accel, Set Decel, and Set Speed procedures. These parameters apply to the resulting vector path motion of the coordinated group, not to any particular axis. Move To can be used on an axis or axis group that is already in motion, replacing the previous target position with the new absolute position. Move To is a blocking command and does not return until the motion has been completed. Blocking program execution until the end of the move is helpful for synchronizing following events. If program execution is required during the move, a non-blocking command such as Begin Move To should be used instead. The Stop, Begin Stop, and Abort commands will end the motion before it reaches the target position.
Escapes
Move To will produce an Axis Is Busy Escape Code if the group is already in motion.
A single axis can be directed to a new destination while in motion as long as the destination is still ahead of the motion and obtainable with the current decel setting. If not a Motion Overrun Escape Code will occur.
If the destination of the move is beyond the positive and negative software limits the Move To will produce a Position Limit Escape Code.
Examples
This block list makes a square:
This block list makes a diamond:
Related Topics