Chapter 10 Motion Control Function
1
Vel _BM =mcBlendingPrevious
As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later,
Rel_Act changes to TRUE. When the target position is not reached, Vel_Ex changes from
FALSE to TRUE and Vel_Bsy changes to TRUE. The axis will wait for the completion of
MC_MoveRelative execution. After MC_MoveRelative execution is completed, Rel_Done
changes to TRUE, Rel_Bsy changes to FALSE, Rel_Act changes to FALSE and meanwhile
Vel_Act changes to TRUE. At the moment, the velocity is 10000units/second (which is the
target speed of the current instruction). Vel_Invel changes to TRUE when the target velocity is
reached.
Rel_Vel
S
2
S
1
Vel_Vel
Rel_Ex
Rel_Done
Rel_Bsy
Rel_Act
Rel_Abt
Velocity
Position
Time
Time
Rel
Ve l_Ex
Vel_Bsy
Vel_Act
Vel_Invel
Vel
Rel_Dist
10-29
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