MC_MoveAdditive
This function block triggers a relative movement in addition to the last requested position in the "DiscreteMotion" state. The last requested position can be the result of a previously canceled movement with MC_MoveAdditive. If the function block is activated in the "ContinuousMotion" axis state, the specified relative distance to the current position is added at the time of execution.
VAR_IN_OUT
Variable name | Data type | Description |
|---|---|---|
Axis | AXIS_REF | Reference to a logical device |
VAR_INPUT
Variable name | Data type | Description |
|---|---|---|
Execute | BOOL | Start execution of the function block. |
Distance | LREAL | Relative distance in [user units] |
Velocity | LREAL | Setpoint speed in [user units/s] |
Acceleration | LREAL | Acceleration in [user unit/s2] |
Deceleration | LREAL | Deceleration in [user unit/s2] |
Jerk | LREAL | Jerk in [user unit/s3] |
BufferMode | Chronological sequence of the function block |
VAR_OUTPUT
Variable name | Data type | Description |
|---|---|---|
Done | BOOL | Function block successfully completed |
Busy | BOOL | Function block is active |
Active | BOOL | Function block controls the axis |
CommandAborted | BOOL | The function block was canceled by another command |
Error | BOOL | An error has occurred in the function block |
ErrorID | WORD | Error number |
