MC_MoveAdditive

With the MC_MoveAdditive FB, a relative motion is commanded, in addition to the commanded position, if the axis is in the Discrete Motion state. The motion is always executed jerk-limited at the constant set input "Jerk”. This value is valid for both "Acceleration" and "Deceleration".

If the axis is in the “Continuous Motion” state and receives a command from this FB, the relative distance to the current position at the time of commanding is added.

If the optional parameters “Acceleration, “Deceleration” and “Jerk” are not specified or set to <= 0, the dynamic values are taken from the corresponding axis list.

Block diagram

FB parameters

VAR_IN_OUT
Variable name	Data type	Description
Axis	AXIS_REF	Axis reference

VAR_INPUT
Variable name	Data type	Description
Execute	BOOL	The motion starts on the rising edge of this input signal.
Distance	LREAL	Target position of the motion, Value range [-2147483648.0, 2147483647.0] Default unit [0.1µm or 10^-4°]
Velocity	LREAL	Maximum velocity of the motion. This value must be specified positive. The velocity is not necessarily reached. Value range [1.0, 2147483647.0] Default unit [1µm/s or 10^-3 °/s]
Acceleration	LREAL	Acceleration value. This value must be specified positive. Value range [0.0, 2147483647.0] Default unit [1mm/s² or 1°/s²]
Deceleration	LREAL	Deceleration value. This value must be always be specified positive. Value range [0.0, 2147483647.0] Default unit [1mm/s² or 1°/s²]
Jerk	LREAL	Jerk value. This value must be always be specified positive. Value range [0.0, 2147483647.0] Default unit [1mm/s³ or 1°/s³]

VAR_OUTPUT
Variable name	Data type	Description
Done	BOOL	The axis is within a range close to the target position. The range is specified by the parameter getriebe[...].window (P-AXIS-00236) of the axis-specific machine data.
CommandAborted	BOOL	TRUE indicates that the command was aborted by another command.
Error	BOOL	Is TRUE if an error occurs in the FB.
ErrorID	WORD	Error identifier

Behaviour of the FB:

This motion is commanded only when the axis is in the “Standstill” or “Continuous Motion” or “Discrete Motion” or “Synchronised Motion” state. If this is not the case, the error output is set to “FALSE and “ErrorID” indicates an error value that designates the state the axis is currently in.
The “Position, “Velocity, “Acceleration”, “Deceleration” and “Jerk” input variables are monitored only for their value range in the FB. If the values are exceeded, an error number referring to the variable is output at the “ErrorID” output and “Error” is set to TRUE. Moreover, the maximum velocity and acceleration data is limited within the motion controller. If speed values greater than getriebe[0].dynamik.vb_max (P-AXIS-00212) or acceleration or deceleration values greater than getriebe[0].dynamik.a_max (P-AXIS-00008) are commanded, the motion takes place nevertheless. The values are limited to the parameterised values and a warning P-ERR-60211 or P-ERR-60188 to P-ERR-60194 is output.
Values for jerk are practical when they correspond to a minimum ramp time of T_A (cycle time of the IPO, e.g. 2 ms) and a maximum ramp time of 100s. The limit transition to non-jerk-limited velocity control lies at the minimum ramp time of T_A. With a value of 0, the maximum ramp time from the axis MDS is used to determine the jerk.
This function block replaces active commands with new commands, making the function block retriggerable. The active command is then aborted.
If a non-referenced axis is commanded by this FB, the axis travels at the speed defined by the getriebe[...].vb_reflow parameter (P-AXIS-00218) of the axis machine data.
The positions of the software limit switches (kenngr.swe_pos (P-AXIS-00178), kenngr.swe_neg (P-AXIS-00177), kenngr.swe_toleranz (P-AXIS-00179)) are monitored if the axis was defined either as a linear or a rotary axis. This means that the kenngr.achs_typ parameter of the axis machine data (P-AXIS-00018) has the value 0x0001 or 0x0002. If the target position commanded exceeds the position of the software limit switches, the axis starts off nevertheless. If a software limit switch position is reached, the axis is braked, keeping to the defined acceleration.