该功能块初始化动子的循环通道，并使用循环位置输入作为设定点规格。在此模式下，避障功能被禁用。仅支持相对循环位置。

Function block

mc_br_movecyclicposition_acp6d

Interface

I/O	Parameter	Data type	Description
IN	Shuttle	Reference to Mc6DShuttleType	The shuttle reference establishes the link between the function block and a shuttle.
IN	Enable	BOOL	The function block is active as long as this input is set.
IN	Parameters	McAcp6DMoveCyclicParType
IN	CyclicPosition	McAcp6DShPositionType
OUT	Valid	BOOL	Initialization complete, position transferred cyclically
OUT	Busy	BOOL	The function block is active and must continue to be called.
OUT	Error	BOOL	Error during execution.
OUT	ErrorID	DINT	Error number

Table: Parameters

重要补充说明：

1、该功能对应PM Tool中的trajectory功能。

2、两点之间的运动时间是程序所在的循环周期时间。

3、此功能只支持相对运动，功能块Enable时候动子所在的位置即被当作相对运动的原点。

（例如要以动子当前位置作为原点，CyclicPosition.X/Y第一个点位均应该是0）。

This function block initializes a cyclic channel for a shuttle and uses the cyclic position input as a setpoint specification. Obstacle avoidance is disabled in this mode. Only relative cyclic positions are supported.

Function block

mc_br_movecyclicposition_acp6d

Interface

I/O	Parameter	Data type	Description
IN	Shuttle	Reference to Mc6DShuttleType	The shuttle reference establishes the link between the function block and a shuttle.
IN	Enable	BOOL	The function block is active as long as this input is set.
IN	Parameters	McAcp6DMoveCyclicParType
IN	CyclicPosition	McAcp6DShPositionType
OUT	Valid	BOOL	Initialization complete, position transferred cyclically
OUT	Busy	BOOL	The function block is active and must continue to be called.
OUT	Error	BOOL	Error during execution.
OUT	ErrorID	DINT	Error number

Table: Parameters

MC_BR_MoveCyclicPosition_Acp6D

MC_BR_MoveCyclicPosition_Acp6D

Function block

Interface

Function block

Interface