text: <user>
  Create a function block for motion control in TwinCAT Structured Text that implements a simple point-to-point movement with position feedback<|endoftext|>
  <assistant>
  FUNCTION_BLOCK FB_PointToPointMotion
  VAR_INPUT
      bExecute     : BOOL;          // Execute movement
      fTargetPos   : LREAL;         // Target position
      fVelocity    : LREAL;         // Movement velocity
  END_VAR
  
  VAR_OUTPUT
      bDone        : BOOL;          // Movement completed
      bBusy        : BOOL;          // Movement in progress
      bError       : BOOL;          // Error occurred
      nErrorID     : UDINT;         // Error ID
      fActualPos   : LREAL;         // Actual position
  END_VAR
  
  VAR
      fbMoveAbsolute   : MC_MoveAbsolute;  // TwinCAT motion FB
      Axis             : AXIS_REF;         // Axis reference
  END_VAR
  
  // Main program logic
  IF bExecute AND NOT bBusy THEN
      bBusy := TRUE;
      bDone := FALSE;
      bError := FALSE;
      nErrorID := 0;
      
      fbMoveAbsolute(
          Axis := Axis,
          Execute := TRUE,
          Position := fTargetPos,
          Velocity := fVelocity
      );
  ELSIF NOT bExecute THEN
      fbMoveAbsolute(
          Axis := Axis,
          Execute := FALSE
      );
      bBusy := FALSE;
  END_IF
  
  // Update status
  bDone := fbMoveAbsolute.Done;
  bError := fbMoveAbsolute.Error;
  nErrorID := fbMoveAbsolute.ErrorID;
  fActualPos := Axis.NcToPlc.ActPos;
  
  // Error handling
  IF bError THEN
      // Implement error handling logic here
  END_IF
  
  (* 
  This function block implements a simple point-to-point motion control using TwinCAT's MC_MoveAbsolute function block.
  It allows for absolute positioning with specified velocity and provides status feedback.
  
  Suggested TwinCAT 3 features to enhance this implementation:
  1. Implement SM3 (SoftMotion) for advanced motion control capabilities.
  2. Use TwinCAT Scope View for real-time monitoring and tuning of motion parameters.
  3. Consider implementing TwinSAFE for safety-critical motion applications.
  *)<|endoftext|>
  