Yaskawa MP2000 - Manual (Page 87)

TECHNICAL NOTE
MOVE ADDITIVE function
Function block for MP2000 series
<MOVADDTV> Function Block Summary
This function block adds the set distance to the currently designated target position on the fly of
discontinuous motion (MOVABS, MOVINC etc.).
Function Block Diagram
<MOVADDTV> Function Block operation Notes
• This block must be in H drawing, and adds the set distance to the currently
designated target position on the fly of discontinuous motion (MOVABS,
MOVINC etc.).
• Rising edge of EXECUTE input initiates block operation and input data of AXIS
and DISTANCE are read. The EXECUTE input must be held ON while in
operation.
• The RUNNING output bit will be held high until: the positioning completed,
EXECUTE=Low or Error.
• The DONE bit turns on when positioning is completed (IB**0C1=ON). When
distributing target position is done and the current position is within the range of
the positioning completed (Original target position + DISTANCE – Position
Feedback < ± Positioning complete width), the positioning completed bit
becomes High.
• If another block takes control of the axis while the block is running, a command
error will occur. The ERROR output will go on, but the RDA will not indicate an
error.
• The S-curve, Acceleration, Deceleration, and the speed will be set based on the
values in RDA, set by Change Dynamics Block.
• Eight words are used as working registers for this function, starting at the
address in Data08W.
File: MP2000_IndividualFunctionDocument_RevC 87/168
Doc Number: eng.MCD.05.101
11/17/2005