MC_MoveAdditive (FB)

FUNCTION_BLOCK MC_MoveAdditive

This function block causes a controlled motion that adds the specified distance to the last specified target position. The axis is thereby in the discrete_motion mode. The current target position can result from a preceding motion of MC_MoveAdditive that was aborted. If the function block runs in the continuous_motion mode, the specified distance is added to the current position during the processing time.

Example

Use of MC_MoveAdditive

The illustration shows how the First instance of the type MC_MoveAbsolute and the Second instance of the type MC_MoveAdditive are combined. The axis is in the discrete_motion mode.

In the left-hand part of the illustration Second is called after First. If First has reached the specified position of 6000, the velocity is 0 and the Done is set, Second will cause the axis to move to the position 10000.

In the right-hand part of the illustration, the execution is started by Second while First is still operating. The motion of First is interrupted and aborted by the Test signal which is transmitted during the constant velocity phase of First. The distance 4000 is added to the last commended position of 60000. Then Second moves the axis to the resulting position 10000.

Sequence of two complete actions: Sequential execution of two complete motions

Second motion interrupts first motion: Motion of "Second" interrupts the motion of "First"

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3		Reference to axis
Input	Execute	BOOL	FALSE	TRUE: Starts execution
	Distance	LREAL	0	Relative distance for the motion in technical unit [u]
	Velocity	LREAL	0	Maximum velocity Is always positive in [u/s]. Does not need to be achieved.
	Acceleration	LREAL	0	Acceleration Is always positive in [u/s²]. Increasing motor energy
	Deceleration	LREAL	0	Deceleration Is always positive in [u/s²]. Decreasing motor energy
	Jerk	LREAL	0	Is always positive in [u/s³].
Output	Done	BOOL	FALSE	TRUE: Distance has been achieved.
	Busy	BOOL	FALSE	TRUE: Function block is in operation.
	CommandAborted	BOOL	FALSE	TRUE: Execution has been interrupted by another function block instance operating on the axis.
	Error	BOOL	FALSE	TRUE: Error has occurred.
	ErrorID	SMC_ERROR	0	Error identification