MC_MOVEADDITIVE

Function Description

The MC_MOVEADDITIVE function is used to apply an additional move command to a servodrive that is already in motion.

As soon as the block input parameter EXECUTE is active:

the MC_MOVEADDITIVE block takes control over the currently moving block (MC_MOVERELATIVE or MC_MOVE_ABSOLUTE),
the value entered in the DISTANCE parameter is added to the target value of the current movement,
the VELOCITY, ACCELERATION, and DECELERATION input parameters are taken into account immediately.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

LD Axis

CAL MC_MOVEADDITIVE_Instance(AXIS:=AXIS, EXECUTE:=EXEC, DISTANCE:=DIS, VELOCITY:=V, ACCELERATION:=ACC, DECELERATION:=DEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_MOVEADDITIVE_Instance(AXIS:=AXIS, EXECUTE:=EXEC, DISTANCE:=DIS, VELOCITY:=V, ACCELERATION:=ACC, DECELERATION:=DEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID);

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
DISTANCE	DINT	Value specifying the additional distance to cover.
VELOCITY	UDINT	Speed value.
ACCELERATION	UDINT	Acceleration value.
DECELERATION	UDINT	Deceleration value.

NOTE: The value 0 for the acceleration and deceleration parameters allows you to use the value configured in the servodrive. If the value is other than 0, the servodrive takes this value into account.

NOTE: For the Icla, the acceleration value is the same for acceleration and deceleration. The type is UINT. The deceleration parameter is not active.

Example

The graph below illustrates the operation of the MC_MOVEADDITIVE block in combination with a MC_MOVE_ABSOLUTE movement block.