4. Motion Control Instructions 4.4.3. MC_MoveAdditive Explanation of the Instruction: MC_MoveAdditive is applied to control the terminal actuator to move for an additive distance at a given speed and acceleration. When the former instruction is related with position and it has not completed its given distance, MC_MoveAdditive is executed to control the terminal actuator to move for the distance which includes the uncompleted distance left by the former instruction and the distance given to this instruction. When execution of this instruction is finished, the final position of the terminal actuation is the addition of the given distance for the former and the current instruction.
If the former one is velocity instruction, MC_MoveAdditive will terminate the execution of velocity instruction, move for the given distance at a given speed, acceleration and deceleration and then stop. Explanation of input and output parameter of the instruction: DVP-MC operating manual 4-19 API Move additively Controller 03 MC MoveAdditive _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive. UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, constant Distance The additive distance of terminal actuator with the unit: Unit..
REAL Constant, D Velocity Running speed of terminal actuator and this parameter is always positive.(Unit: unit/second) REAL Constant, D Acceleration Acceleration of terminal actuator and this parameter is always positive. (Unit: unit/second2). REAL Constant, D Deceleration Deceleration of terminal actuator and this parameter is always positive. (Unit: unit/second2). REAL Constant, D Done When additive position execution is completed, "Done" turns on; when “Execute” is off, "Done" is reset. BOOL M,Q Abort When this instruction execution is aborted, "Abort" turns on; when “Execute” is off, "Abort" is reset.
BOOL M,Q Error If any error is detected, "Error" turns on; when “Execute” is off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to table 5.3. UINT D