Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-63
MC_MoveRelative - Example of "Overlay motion 3"
The signal profile below shows the "overlaying" reaction of the (Mode = 2)
"MC_MoveRelative" technology function with reversal.
Reversal
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. The sense of direction is reversed, because a negative distance
was set at FB2 (Distance = -300). "MC_MoveAbsolute" decelerates the axis with
Deceleration = 10 in order to reach 0 speed after the axis has covered the distance
of 1000. Completion of the command is reported with Done_1 at FB1.
After it has covered the distance 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to a speed of -30. This is a bumpless transition, as the zoomed
view shows. 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 -300.