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fix realtive movement #1174

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fix realtive movement #1174

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7 changes: 6 additions & 1 deletion src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st
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Original file line number Diff line number Diff line change
Expand Up @@ -2508,6 +2508,7 @@ NAMESPACE AXOpen.Components.Festo.Drives
MC_MoveRelativeAcceleration_PV : LREAL;
MC_MoveRelativeDeceleration_PV : LREAL;
MC_MoveRelativeJerk_PV : LREAL;
MC_MoveRelativeEndPosition_PV : LREAL;
END_VAR
METHOD PUBLIC OVERRIDE MC_MoveRelative
VAR_INPUT
Expand Down Expand Up @@ -2598,6 +2599,7 @@ NAMESPACE AXOpen.Components.Festo.Drives
MC_MoveRelativeAcceleration_PV := Acceleration;
MC_MoveRelativeDeceleration_PV := Deceleration;
MC_MoveRelativeJerk_PV := Jerk;
MC_MoveRelativeEndPosition_PV := THIS.ActualPosition + Distance ;
State := UINT#91;
END_IF;
END_IF;
Expand Down Expand Up @@ -2641,7 +2643,9 @@ NAMESPACE AXOpen.Components.Festo.Drives
END_IF;
IF State = UINT#94 THEN
_AxisReference^.Telegram111_Out.STW1.activateTraversing := FALSE;
IF _AxisReference^.Telegram111_In.ZSW1.targetPosReached THEN
IF _AxisReference^.Telegram111_In.ZSW1.targetPosReached
AND ( Abs(MC_MoveRelativeEndPosition_PV - THIS.ActualPosition) <= DriveConfig.InPositionWindow )
THEN
State := UINT#95;
END_IF;
END_IF;
Expand Down Expand Up @@ -2685,6 +2689,7 @@ NAMESPACE AXOpen.Components.Festo.Drives
MC_MoveRelativeAcceleration_PV := Acceleration;
MC_MoveRelativeDeceleration_PV := Deceleration;
MC_MoveRelativeJerk_PV := Jerk;
MC_MoveRelativeEndPosition_PV := THIS.ActualPosition + Distance ;
State := UINT#91;
END_IF;
END_IF;
Expand Down
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