MC_MoveAdditive

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Performs a single-axis move for a specified distance from the endpoint of the previous move.

It is typically used with Abort specified at the BufferMode input. If BufferMode is not Abort, this move is identical to an MC_MoveRelative.

Figure 7-137: MC_MoveAdditive

Time Diagram

This diagram shows two examples of the combination of two Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. Blocks while the axis is in Discrete Motion state:

• The left part of the diagram illustrates when the Second Function Block is called after the First one.
  • If the First reaches the commanded distance 6000 (and the velocity is 0), the output Done causes the Second FB to move to the distance 10000.
• The right part of the diagram illustrates when the Second move Function Blocks starts the execution while the First FB is still executing.
  • The First motion is interrupted and aborted by the Test signal during the constant velocity of the First FB.
  • The Second FB adds on the previous commanded position of 6000 the distance 4000 and moves the axis to the resulting position of 10000.

• 
  
• This function block starts a motion-related action and therefore stores data for calculations and error checking.
  See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

Arguments

See Function Blocks - General Rules for more information about how inputs and outputs work.

Input

Execute	Description	Requests to queue the move
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Axis	Description	Name of a declared instance of the AXIS_REF library function. See Modify PLCopen Axis for more information.
	Data type	AXIS_REF Structure
	Range	[1, 256]
	Unit	N/A
	Default	—
Distance	Description	Distance to add to the endpoint of the previous move
	Data type	REAL
	Range	—
	Unit	User unit
	Default	—
Velocity	Description	Velocity setpoint Setpoint is the target value that an automatic control system, for example PID controller, will aim to reach
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
Acceleration	Description	Trapezoidal: Acceleration rate S-curve: Maximum acceleration
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Trapezoidal: Deceleration rate S-curve: Unused
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Jerk In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time	Description	Trapezoidal: 0 S-curve: Constant jerk In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time
	Data type	LREAL
	Range	—
	Unit	User unit/sec3
	Default	—
BufferMode	Description	0 = abort 1 = buffer 2 = blend to active 3 = blend to next 4 = blend to low velocity 5 = blend to high velocity See table in Buffer Modes.
	Data type	SINT
	Range	[0,5]
	Unit	N/A
	Default	—

Output

Done	Description	Indicates the move completed successfully. The Command Position has reached the endpoint.
	Data type	BOOL
Busy	Description	High from the moment the Execute input is one-shot to the time the move is ended
	Data type	BOOL
Active	Description	Indicates this move is the active move
	Data type	BOOL
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
Error	Description	Indicates an invalid input was specified or the move was terminated due to an error
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE. See PLCopen Function Block ErrorID Output for more information.
	Data type	INT

FFLD Language

ST Language

      (* MC_MoveAdditive ST example *) 
      
Inst_MC_MoveAdditive( MovAddReq, Axis1, 123.456, 100.0, 100.0, 100.0, 0, 0 ); 
   //Inst_MC_MoveAdditive is an instance of MC_MoveAdditive function block
MovAddDone := Inst_MC_MoveAdditive.Done;  
   //store Done output into user defined variable