Danfoss VLT series

MC_MoveAdditive with BuerMode = Buered
The potentially ongoing positioning is nished rst. The original target position is reached and the velocity in this target
position is 0. The new target position is the (old) target position plus the value of the Distance input of MC_MoveAd-
ditive_ISD51x. This means that it is the exact same end position as with BuerMode = mcAborting_ISD51x.
The trajectory parameters (Velocity, Acceleration, and Deceleration) are only used for the 2
nd
movement. If the function block
is activated in the axis state ContinuousMotion, the specied relative distance is added to the set position at the point of the
rising edge of Execute. This applies for buer mode Buered and Aborting.
VelocityPosition
MoveAbsolute
MoveAdditive
FB1.
Execute
FB2.
Execute
FB1.
Done
FB2.
Done
FB2.
Active
FB1.
Command
Aborted
VelocityPosition
MoveAbsolute
MoveAdditive mcAborting
FB1.
Execute
FB2.
Execute
FB1.
Done
FB2.
Done
FB2.
Active
FB1.
Command
Aborted
130BE952.10
Illustration 6.66 Buered versus Aborting with MC_MoveAdditive
Programming
VLT
®
Integrated Servo Drive ISD
®
510 System
208 Danfoss A/S © 01/2017 All rights reserved. MG36D102
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