MC_MoveAdditive

With MC_MoveAdditive, a relative motion is commanded, in addition to the commanded position, if the axis is in the "Discrete Motion" state. The motion is always executed jerk-limited with the constant set input "Jerk". This value is valid for both "acceleration" and "deceleration".

If the axis is in the "Continuous Motion" state and receives a command from this FB, the relative distance from the current position at the time of commanding is added.

NC command: 

<axis_name>[ MC_MoveAdditiveDistance=<expr> Velocity=<expr> Acceleration=<expr>
Deceleration=<expr> Jerk=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_MoveAdditive 1:

Distance

[0,1µm or 10-4 °]

Velocity

[1µm/s or 10-3 °/s]

Acceleration

[1mm/s2 or 1°/s2]

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Programming example

S[MC_MoveAdditive Distance=277  Velocity=1100  Acceleration=550
  Deceleration=660  Jerk=220]