Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-67
6.2.8 FB 412 MC_MoveAdditive - Additive positioning to current target
position
Purpose
• The "MC_MoveAdditive" technology function starts an axis approach with user-
definable dynamic values, towards a position which is relative to the destination
position of the current positioning command. This method allows you to adjust
the previously commanded target position by a defined distance.
• You define the dynamic characteristics of slave synchronization at the dynamic
parameters Velocity, Jerk, Acceleration, Deceleration.
• The axis stops at the target position.
• A MC_MoveAdditive command overrides the current command.
Applicable to
• Positioning axes
• Synchronization axes
Requirements
• Axis has to be enabled for position control.
• Axis has to be homed if "Homing required" was selected at the configuration
- and the axis is in motion
- or "MC_MoveAdditive" overrides an active motion command (exception:
"MC_MoveVelocity".)
• Axis does not have to be homed,
- If the axis is not in motion
- If a running MC_MoveVelocity command is overridden.
• No MC_Stop command is busy
Note
MC_MoveAdditive responds in the same way as MC_MoveRelative,
• when the axis is idle at the start of the motion command, or
• when a continuous function is overridden, i.e. when the target position is not
defined. The target position depends in this case on the override position, and
is derived from the distance and the position at the start of the operation.