MC_MoveAdditive

Functional Description

This function block performs a movement with a specified distance with reference to the previous target position.

The function block replaces another positioning function block currently active on the axis. It performs a movement to a new target position which is calculated based on the target position of the previously active positioning function block plus the value of the Distance input of MC_MoveAdditive. If no function block is active, a new movement is started equal to the functionality of MC_MoveRelative.

Graphical Representation

Inputs

Input	Data type	Description
Axis	Axis_Ref	Reference to the axis for which the function block is to be executed.
Execute	BOOL	Value range: FALSE, TRUE. Default value: FALSE. A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE. This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.
Distance	LREAL	Value range: -2147483648...2147483647 Default value: 0. Target position relative to the previous target position in user-defined units.
Velocity	LREAL	Value range: A positive LREAL value Default value: 0 Target velocity in user-defined units.
Acceleration	LREAL	Value range: A positive LREAL value Default value: 0 Acceleration in user-defined units.
Deceleration	LREAL	Value range: A positive LREAL value Default value: 0 Deceleration in user-defined units.
Jerk	LREAL	Value range: A positive LREAL value and zero Positive values: Jerk limit (in units/s³) (maximum jerk with which the acceleration is modified). Zero: Jerk limit disabled. The acceleration jumps from zero to maximum acceleration (infinite jerk). Default value: 0
BufferMode	MC_Buffer_Mode	Default value: Aborting Buffer mode. Possible values: Value Aborting Value Buffered Value BlendingLow Value BlendingPrevious Value BlendingNext Value BlendingHigh See MC_Buffer_Mode for a description of the values.

Outputs

Output	Data type	Description
Done	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Execution has not been finished, or an error has been detected. TRUE: Execution terminated without an error detected.
Busy	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is not being executed. TRUE: Function block is being executed.
Active	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: The function block does not control the movement of the axis. TRUE: The function block controls the movement of the axis.
CommandAborted	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Execution has not been aborted. TRUE: Execution has been aborted by another function block.
Error	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is being executed, no error has been detected during execution. TRUE: An error has been detected in the execution of the function block.
ErrorID	ET_Result	This enumeration provides diagnostics information.

Additional Information

PLCopen State Diagram