Mc_Moveadditive_Isd51X - Danfoss VLT Series Programming Manual

Programming

6.5.5.6 MC_MoveAdditive_ISD51x

This function block commands a controlled motion of a
specified relative distance in addition to the most recent
commanded position in the axis state DiscreteMotion. The
most recent commanded position can also be the result of
a previous MC_MoveAdditive_ISD51x that was aborted. If
the function block is activated in the axis state Continuous-
Motion, the specified relative distance is added to the set
position at the time of execution.
Only positive values are allowed for the inputs Velocity,
Acceleration, and Deceleration.
The command is transferred immediately and, if aborting
buffer mode, also executed immediately.
MC_MoveAdditive_ISD51x
AXIS_REF_-
ISD51x
BOOL Execute
DINT Distance
DINT Velocity
UDINT Acceleration
UDINT Deceleration
MC_BUFFER_- Bu erMode
MODE_ISD51x
UINT TorqueLimit
Illustration 6.65 MC_MoveAdditive_ISD51x
Variable Data type Default
name value
VAR_IN_OUT
Axis AXIS_REF_ISD51x
VAR_INPUT
Execute BOOL FALSE
Distance DINT 0
Velocity DINT 0
Acceleration UDINT 0
MG36D102
Programming Guide
Axis
Done BOOL
Busy BOOL
Active BOOL
Command BOOL
Aborted
Error BOOL
ErrorInfo DD_ERROR_-
ISD51x
Description
Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
Start the motion at rising
edge.
Relative distance for the
motion [user-defined
position unit]. Can be a
positive or negative value.
Value of the maximum
velocity (not necessarily
reached) [user-defined
velocity unit]. Only values
>0 are allowed.
Value of the acceleration
(increasing energy of the
motor) [user-defined
acceleration unit]. Only
values >0 are allowed.
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Variable Data type Default
name value
Deceleration UDINT 0
BufferMode MC_BUFFE mcAbort
R_MODE_I ing_ISD5
SD51x 1x
TorqueLimit UINT 0xFFFF
VAR_OUTPUT
Done BOOL
Busy BOOL
Active BOOL
CommandA- BOOL
borted
Error BOOL
ErrorInfo DD_ERROR_ISD51x
Table 6.45 MC_MoveAdditive_ISD51x
The buffer mode itself is described in more detail in
chapter 2.4.1 Profile Position Mode. It is only possible to
have 1 buffered position. Trying to command a 2
buffered command leads to an error.
MC_MoveAdditive with BufferMode = Aborting
The potentially ongoing positioning is aborted
immediately. The original target position is not necessarily
reached. The new target position is the (aborted) target
position plus the value of the Distance input of
MC_MoveAdditive_ISD51x. The trajectory parameters
(Velocity, Acceleration, and Deceleration) are used
immediately.
If the function block is activated in the axis state Continu-
ousMotion, the specified relative distance is added to the
set position at the point of the rising edge of Execute. This
applies for buffer mode Buffered and Aborting.
Description
Value of the deceleration
(decreasing energy of the
motor) [user-defined
acceleration unit]. Only
values >0 are allowed.
Defines the chronological
sequence of the function
block.
Maximum torque used
during this motion [per
thousand of rated torque].
Commanded distance
reached.
The function block is not
finished and new output
values are to be expected.
The function block has
control on the axis.
Command is aborted by
another command.
An error has occurred
within the function block.
Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
nd
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