Chapter 11 Motion Control Instructions
11-45
2. Motion Curve and Timing Chart
The first MC_MoveRelative instruction starts being executed when Rel1_Ex changes from
FALSE to TRUE. At the moment, the current position of the axis is 2000 and the target position
is 7000 (7000=2000+5000).
When the axis position of 4500 is reached, Rel2_Ex changes from FALSE to TRUE, the
second MC_MoveRelative instruction starts being executed and the execution of the first
MC_MoveRelative is aborted and Rel1_Abt changes to TRUE.
When the axis position of 13500 (13500=4500+9000) is reached, the execution of the second
MC_MoveRelative instruction is completed and Rel2_Done changes to TRUE.
300
13500
4500
2000
500
Rel1_Ex
Rel1_Done
Rel1_Bsy
Rel1_Act
Rel1_Abt
Velocity
Position
Time
Time
Rel1
Rel2_Ex
Rel2_Bsy
Rel2_Act
Rel2_Done
Rel2
Rel2_Abt
Rel2 Err
Rel1_Err
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