Additive Positioning with MC_MoveAdditive

MC_MoveAdditive is used to add a distance to an active motion command for an axis. This function block should be executed when axis is in DiscreteMotion state. MC_MoveAdditive can be executed without the axis being homed.

  • A positive distance value will add distance to the current move.

  • A negative distance value will subtract distance from the current move.

  • LS_Connect and MC_Power must be executed before this function block can be used.

  • The examples in this topic can be found in the XMC_SingleAxis_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
Axis Input/Output Axis reference variable. This can not be a constant.
ContinuousUpdate Input Specify the update setting of the input value. This is explained in section 6.1.5 of the XMC user manual.
Distance Input Specify the distance to add to current move.
Velocity Input Specify the maximum speed of the move.
Acceleration Input Specify the acceleration of the move.
Deceleration Input Specify the deceleration of the move.
Jerk Input Specify the change rate of acceleration and deceleration.
BufferMode Input Specify the sequential operation setting. See Buffer Mode table below.
Done Output Indicates the function block completed successfully.
Busy Output Indicates the function block is currently being executed.
Active Output Indicates the function block is controlling the axis.
CommandAborted Output Indicates the function block was aborted.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.

 

BufferMode Table

Sections 6.1.4 and 8.2.10 of the XMC user manual provide more information about buffer modes.

Value Buffer Mode Description
0 Aborting Abort previous command and execute the command immediately.
1 Buffered Execute the command after previous command is completed.
2 BlendingLow The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3 BlendingPrevious The new command is blended into a previous command using the velocity of the previous command.
4 BlendingNext The new command is blended into a previous command using the velocity from the new command.
5 BlendingHigh The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

MC_MoveRelative is executed before executing MC_MoveAdditive.

//Set axis reference

Axis1 := 1;

 

IF (_AX01_RDY) AND (_AX01_SV_ON) AND (_AX01_HOME_CMPL) THEN

//Example of MC_MoveAdditive

INST_MOVEADDITIVE(Execute:=Execute_MoveAdditive, Axis:=Axis1,

ContinuousUpdate:=0, Distance:=INST_MOVEADDITIVE.Distance,

Velocity:=INST_MOVEADDITIVE.Velocity,

Acceleration:=INST_MOVEADDITIVE.Acceleration,

Deceleration:=INST_MOVEADDITIVE.Deceleration,

Jerk:=INST_MOVEADDITIVE.Jerk, BufferMode:=0,

ErrorID=>INST_MOVEADDITIVE.ErrorID);

END_IF;

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM511