Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-57
MC_MoveRelative - Example of "Append motion"
The signal profile below shows the "appending" reaction of the "MC_MoveRelative"
technology function (Mode = 1).
Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB1. The axis (Axis_1) accelerates to its final speed 50 based on the
set acceleration ramp (Acceleration = 10.) Before it has traversed the specified
distance (Distance = 1000), a further MC_MoveRelative command is started
(positive edge Exe_2 at FB2.) Busy_2 reports that the new command is busy.
The current relative positioning command is not aborted, but rather "appended" by
setting Mode = 1 at FB2. "MC_MoveAbsolute" decelerates at Deceleration = 10,
and travels the axis according to the initiated command by a distance of 1000.
Done_1 reports completion of the command.
After the axis has traversed the distance 1000, the system appends the second
MC_MoveAbsolute motion command for immediate execution without time gap
(see the zoom view.) The (Axis_1) moves by a distance of 500, according to the
set acceleration and deceleration values. Done_2 is toggled to TRUE state, and
Busy_2 is toggled to FALSE state, if the axis has moved by a distance
Distance = 500.