Technical data

Technology functions
CPU 317T: Technology Functions
6-70 A5E00251798-03
MC_MoveAdditive - Example
Signal profile
Case A: Two MC_MoveAdditive commands are started in succession.
Case B: The second MC_MoveAdditive command (FB2) is started before the first
is completed. This will lead to an abortion of the first command (FB1).
The target position results from the target position of the first command
corrected by the distance of the second command.
t
t
t
t
t
FB1
FB2
Velocity
Position
MC_MoveAdditive
Error
ErrorID
Done_1
Done
CommandAborted
Abort_1
1500
1000
50
30
Done_1
Exe_1
1
0
1
0
Abort_1
1
0
Exe_2
Done_2
1
0
1
0
FB1 FB2
t
t
Axis
Axis_1
ExecuteExe_1
Distance
1000
DoneFlag0
Jerk
0
Deceleration10
Acceleration
10
Velocity50
MC_MoveAdditive
Error
ErrorID
Done_2
Done
CommandAborted
Abort_2
Axis
Axis_1
ExecuteExe_2
Distance
500
DoneFlag0
Jerk
0
Deceleration10
Acceleration
10
Velocity30
500
Busy Busy
a b