`MCA_MoveBuffer` (FB)

FUNCTION_BLOCK MCA_MoveBuffer

This function block will, upon a rising edge on Execute, do a number of relative or absolute moves, listed in a table (Array of MCA_Pos_Ref).

with VelocityMode = FALSE, the function block will position the axis to a complete stop at target position and continue with the next move from the table automatically.
with VelocityMode = TRUE, the function block will end the positioning movement with the given velocity and (if it is not the last movement) continue with the next move from the table automatically.
If it is the last movement, the axis will come to a complete stop.

InOut:

Scope	Name	Type	Comment
Input	`Execute`	`BOOL`	Starts the function block at rising edge
	`MovesToDo`	`WORD`	Provide number of moves, not more than entries in MoveParameter
	`TableIndex`	`WORD`	Index to an array of MCA_Pos_Ref, points to the movement to be performed on rising edge of Execute, start with 1 for the first entry
Output	`Done`	`BOOL`	Shows the status of the function block. Done = TRUE if the execution is finished
	`Busy`	`BOOL`	The function block is not finished
	`Active`	`BOOL`	Indicates that the function block has control on the axis
	`CommandAborted`	`BOOL`	Command is aborted by another command from other PLCopen function block
	`Error`	`BOOL`	Signals that error has occurred within function block
	`ErrorID`	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
	`MovesPending`	`WORD`	Indicates the number of moves still to execute
	`IndexNo`	`WORD`	Index executing or last index completed, starting with “1”
Input	`MoveParameter`	POINTER TO MCA_POS_REF	array with all parameters for either absolute or relative positioning movement
Inout	`Axis`	Axis_Ref	Reference to axis

Structure:

MCA_MoveBuffer (FB)