6.5.5.6 MC_MoveAdditive_ISD51xThis function block commands a controlled motion of aspecified relative distance in addition to the most recentcommanded position in the axis state DiscreteMotion. Themost recent commanded position can also be the result ofa previous MC_MoveAdditive_ISD51x that was aborted. Ifthe function block is activated in the axis state Continuous-Motion, the specified relative distance is added to the setposition at the time of execution.Only positive values are allowed for the inputs Velocity,Acceleration, and Deceleration.The command is transferred immediately and, if abortingbuffer mode, also executed immediately.MC_MoveAdditive_ISD51xExecuteBOOLAxisAXIS_REF_-ISD51xBOOLBusyBOOLDoneBOOLCommandAbortedBOOLBOOLErrorDD_ERROR_-ISD51xErrorInfoActiveDistanceDINTAccelerationUDINTDecelerationUDINTBufferModeMC_BUFFER_-MODE_ISD51xTorqueLimitUINTVelocityDINT130BE285.10Illustration 6.65 MC_MoveAdditive_ISD51xVariablenameData type DefaultvalueDescriptionVAR_IN_OUTAxis AXIS_REF_ISD51x Reference to the axis.Seechapter 6.5.4.1 AXIS_REF_ISD51x.VAR_INPUTExecute BOOL FALSE Start the motion at risingedge.Distance DINT 0 Relative distance for themotion [user-definedposition unit]. Can be apositive or negative value.Velocity DINT 0 Value of the maximumvelocity (not necessarilyreached) [user-definedvelocity unit]. Only values>0 are allowed.Acceleration UDINT 0 Value of the acceleration(increasing energy of themotor) [user-definedacceleration unit]. Onlyvalues >0 are allowed.VariablenameData type DefaultvalueDescriptionDeceleration UDINT 0 Value of the deceleration(decreasing energy of themotor) [user-definedacceleration unit]. Onlyvalues >0 are allowed.BufferMode MC_BUFFER_MODE_ISD51xmcAborting_ISD51xDefines the chronologicalsequence of the functionblock.TorqueLimit UINT 0xFFFF Maximum torque usedduring this motion [perthousand of rated torque].VAR_OUTPUTDone BOOL Commanded distancereached.Busy BOOL The function block is notfinished and new outputvalues are to be expected.Active BOOL The function block hascontrol on the axis.CommandA-bortedBOOL Command is aborted byanother command.Error BOOL An error has occurredwithin the function block.ErrorInfo DD_ERROR_ISD51x Error identification andinstance identifier.See chapter 6.5.2.3 ErrorIndication.Table 6.45 MC_MoveAdditive_ISD51xThe buffer mode itself is described in more detail inchapter 2.4.1 Profile Position Mode. It is only possible tohave 1 buffered position. Trying to command a 2ndbuffered command leads to an error.MC_MoveAdditive with BufferMode = AbortingThe potentially ongoing positioning is abortedimmediately. The original target position is not necessarilyreached. The new target position is the (aborted) targetposition plus the value of the Distance input ofMC_MoveAdditive_ISD51x. The trajectory parameters(Velocity, Acceleration, and Deceleration) are usedimmediately.If the function block is activated in the axis state Continu-ousMotion, the specified relative distance is added to theset position at the point of the rising edge of Execute. Thisapplies for buffer mode Buffered and Aborting.Programming Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 2076 6
