Connect Tech CPU Manuel de service télécharger pdf (Page 268)

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Technology functions

CPU 317T: Technology Functions

6-52 A5E00251798-03

6.2.7 FB 411 MC_MoveRelative - Relative positioning

Valid for firmware version V3.1.x of the integrated technology

Purpose

• The "MC_MoveRelative" technology starts an axis motion at a position relative

position to the start position.

If the axis was already in motion at the start of command execution and a

"motion override" was set with Mode = 0, the system uses its internal start

position which is valid the start of command execution. Allowances must be

made for the reaction time between the execution of a technology function and

of a command, based on the load and cycle time.

• Use the input parameters Velocity, Jerk, Acceleration, Deceleration to define

the dynamic response during axis movement.

• At input parameter Mode you can specify whether to trigger an active motion,

to overlay the current motion, or to append the motion.

Applicable to

• Positioning axes

• Synchronization axes

Requirements

• The axis is enabled for position control

• No MC_Stop command busy

• Valid for saving and overlaying motions (mode = 1, 2):

- An"MC_CamIn" or "MC_GearIn" has not been started

- No synchronized operation.

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Connect Tech CPU Manuel de service Page 268

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