MC_MoveAdditive

MC_MoveAdditive 1:

MC_MoveAdditive starts relative positioning procedure based on the last target position instruction, irrespective of whether this was reached. The Done output is set once the target position has been reached. Otherwise the CommandAborted or, on error, the Error output is set.

If no last target position is known or the axis is moving continuously, the movement is executed based on the current set position for the axis.

Inputs


VAR_INPUT
    Execute      : BOOL;
    Distance     : LREAL;
    Velocity     : LREAL;
    Acceleration : LREAL;
    Deceleration : LREAL;
    Jerk         : LREAL;
    BufferMode   : MC_BufferMode;
    Options      : ST_MoveOptions;
END_VAR

Execute	The command is executed with a rising edge at input Execute.
Distance	Relative distance to be used for positioning.
Velocity	Maximum travel velocity (>0).
Acceleration	Acceleration (≥0). If the value is 0, the standard acceleration from the axis configuration in the System Manager is used.
Deceleration	Deceleration (≥0). If the value is 0, the standard deceleration from the axis configuration in the System Manager is used.
Jerk	Jerk (≥0). If the value is 0, the standard jerk from the axis configuration in the System Manager is used.
BufferMode	The BufferMode is analyzed, if the axis is already executing another command. The running command can be aborted, or the new command becomes active after the running command. The BufferMode also determines the transition condition from the current to the next command. A second function block is required to use the buffer mode. It is not possible to trigger a move block with new parameters while it is active.
Options	The data structure option includes additional, rarely required parameters. The input can normally remain open.

General rules for MC function blocks

Outputs


VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Done	The Done output becomes TRUE once the target position was reached.
Busy	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the movement command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	Active indicates that the command is executed If the command was queued, it becomes active once a running command is completed.
CommandAborted	Becomes TRUE, if the command could not be fully executed. The axis may have been stopped, or the running command may have been followed by a further Move command.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.

General rules for MC function blocks

Inputs/outputs


VAR_IN_OUT
    Axis    : AXIS_REF;
END_VAR

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.

	MC_MoveAdditive is not implemented for fast/slow axes.