Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-55
Output parameters
Parameter Data type Start value Description
Done BOOL FALSE TRUE: Destination position reached
Busy BOOL FALSE TRUE: Command is busy
CommandAborted BOOL FALSE TRUE: The command was aborted by another
command or by an error during command
execution.
If ErrorStatus of the technology DB
does not indicate an error, the
command was canceled by a subsequent
command.
If ErrorStatus reports an error, an error at
the TO occurred during command
execution and has caused cancellation of
the command.
Error BOOL FALSE
TRUE: Command initiation with error.
The command is not
executed; the cause is found in the
ErrorID.
FALSE: Command initiation without error
ErrorID WORD 0
ErrorID of the Error output parameter.
MC_MoveRelative - Example of "Override motion"
The signal profile below shows the override reaction of the (Mode = 0)
"MC_MoveRelative" technology function.
Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB1 starts relative
positioning of the axis (Axis_1). Done_1 changes to TRUE when Distance = 1000
is reached.
In time with Done_1 = TRUE, the system starts a further relative positioning
command at FB2 (input parameter Execute (Exe_2)). Reaction times during
command execution lead to a brief standstill of the axis (see the zoomed
visualization.) After a brief stop, the axis (Axis_1) continues moving by a distance
of 500. Done_2 reports conclusion of the command.
Phase "b"
A further positive edge at input parameter Execute (Exe_1) of FB1 starts relative
positioning of the axis (Axis_1).
A further positioning command is started at FB2 before the destination position
1000 is reached (input parameter Execute (Exe_2)). Abort_1 reports the
cancellation of the current positioning command at FB1. The axis (Axis_1) is driven
at the specified deceleration Deceleration = 10 until it has reached Velocity = 30.
Done_2 outputs a message at FB2 when the axis has passed the Distance = 500.