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PLCopen for efficiency in automation Example 2 (continued…) MC_MoveLinearRelative – Blending Example Second First MC_MoveLinearRelative AxesGroup Go1 DistArray_1 3000 10 10 0 MCS AxesGroup Execute Distance Velocity Acceleration Deceleration Jerk CoordSystem BufferMode TransitionMode TransitionParameter MC_MoveLinearRelative AxesGroup Done Busy Active CommandAborted Error ErrorID Go2 DistArray_2 2000 100 100 0 MCS Blending TMCornerDistance CornerDist AxesGroup Execute Distance Velocity Acceleration Deceleration Jerk CoordSystem BufferMode TransitionMode TransitionParameter AxesGroup Done Busy Active CommandAborted Error ErrorID Finish Sequence of two complete motions First Go 0 1 t Active 0 t 1 Done 0 t Second 1 Buffered Go2 0 t 1 Active 0 t 1 Finish 0 t Motion Blending 3000 2000 AxesGroup.Velocity 0 DistArray_1 + DistArray_2 Bl2 Second point Bl1 Starting Point Starting point First point not crossed Progress of the move Figure17: Second example with MC_MoveLinearRelative and Blending (Continued..) TC2 - Task Force Motion Control Part 4 – Coordinated Motion December 3, 2008 V 1.0 © PLCopen – 2007 - 2008 page 62/ 119
