Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-61
MC_MoveRelative - Example of "Overlay motion 2"
The signal profile shown below shows the "overlaying" response of the technology
function "MC_MoveRelative" (Mode = 2) in situations where the current speed is
lower than 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" moves the axis along the distance to go at
the final speed 50. Done_1 reports completion of the command at FB1.
After it has covered the distance 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to the final speed 70 set by the second command. The axis
(Axis_1) covers the distance to go at the set speed and deceleration. Done_2 is
toggled to TRUE, and Busy_2 ids toggled to FALSE state, after the axis has
covered the distance Distance = 500.