MC_MoveAdditive

This FB serves to execute a relative positioning with regard to the target position commanded last in the " DiscreteMotion " state.

The target position commanded last may be the result of a previously executed motion command " MoveAdditive " that has been aborted.

If the motion command is started in the " ContinuousMotion " state, the setpoint position at the time of execution is the reference for the relative positioning.

		MC_MoveAdditive
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
BOOL	-	ContinuousUpdate	Active	-	BOOL
LREAL	-	Distance	CommandAborted	-	BOOL
LREAL	-	Velocity	Error	-	BOOL
LREAL	-	Acceleration	ErrorID	-	L_IE1P_Error
LREAL	-	Deceleration
LREAL	-	Jerk
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Start positioning.
ContinuousUpdate BOOL	Continuous acceptance of the profile parameters Control input ContinuousUpdate
FALSE	The profile parameters ( Position , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .
TRUE	The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.
Distance LREAL	Distance to be traversed in [unit]
Velocity LREAL	Maximum velocity in [unit/s] for approaching the target position Depending on the profile parameters Position , Acceleration, Deceleration and Jerk , the drive may not reach the maximum velocity. Special case : Velocity = 0: The default value defined in subindex 40 is used for the velocity.
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Special case : Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Start positioning.

ContinuousUpdate

BOOL

Continuous acceptance of the profile parameters

Control input ContinuousUpdate

FALSE

The profile parameters ( Position , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .

TRUE

The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.

Distance

LREAL

Distance to be traversed in [unit]

Velocity

LREAL

Maximum velocity in [unit/s] for approaching the target position

Depending on the profile parameters Position , Acceleration, Deceleration and Jerk , the drive may not reach the maximum velocity.

Special case :

Velocity = 0: The default value defined in subindex 40 is used for the velocity.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Special case :

Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Positioning completed successfully.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

The following example shows the behaviour of MC_MoveAdditive in combination with the motion command MC_MoveAbsolute , while the axis is in the "DiscreteMotion" state.

Case

: FB2 will only be started after FB1 has reached its commanded position "6000" (with a velocity = "0").

The Done output of FB1 starts the execution of FB2.

FB2 adds the distance "40002 to the previously commanded position "6000" and traverses the axis to the resulting position "10000".

Case

: FB2 is started (by means of a test signal) before FB1 has reached its commanded position.

The execution of FB1 is aborted ( CommandAborted = TRUE).

FB2 adds the distance "40002 to the previously commanded position "6000" and traverses the axis to the resulting position "10000".

Example: Linking of MC_MoveAbsolute and MC_MoveAdditive