Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-59
MC_MoveRelative - Example of "Overlay motion 1"
The signal profile shown below shows the "overlaying" response of the technology
function "MC_MoveRelative" (Mode = 2) in situations where the current speed
exceeds the new speed.
Current speed > new speed
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 positioning command is not canceled, but rather "overlaid" by setting
Mode = 2 at FB2. "MC_MoveRelative" decelerates the axis with Deceleration = 10
in order to reach the final speed of 30 set by the overlaying MC_MoveRelative
command, after the axis has covered the distance 1000. Completion of the
command is reported with Done_1 at FB1.
After it has covered the distance of 1000, the axis (Axis_1) continues to move at a
speed of 30. The (Axis_1) moves by a distance of 500, according to the set speed
and deceleration values. Done_2 is toggled to TRUE state, and Busy_2 is toggled
to FALSE state, if the axis has covered the distance Distance = 500.