MC_MoveAdditive command

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

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.

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

Optionally, the program can wait for the job to end (“WaitSyn” keyword) or can assign a Job ID (“Id” keyword) for later synchronisation.

NC command:

<axis_name>[ MC_MoveAdditive Distance=<expr> Velocity=<expr> [Acceleration=<expr>]
                     [Deceleration=<expr>] [Jerk=<expr>] [Id=<expr>] [WaitSyn] { \ } ]

Block diagram of the function block in PLCopen:

Input pin

Unit

Distance

[0.1 µm or 10-4 °]

Velocity

[1 µm/s or 10-3 °/s]

Acceleration

[1 mm/s2 or 1°/s2]

Deceleration

[1 mm/s2 or 1°/s2]

Jerk

[1 mm/s3 or 1°/s3]

Programing Example

prg_example

MC_MoveAdditive command

S[MC_MoveAdditive Distance=277 Velocity=1100 Acceleration=550 \

Deceleration=660 Jerk=22000]