MC_MoveLinearRelative
This Function Block commands an interpolated linear movement on an AxesGroup from the commanded position of the group at the time this function block initiates motion to a relative position in the specified coordinate system.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Execute |
BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| B | Distance |
VECTOR | An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities. | Array of LREAL#0.0 |
| E |
Velocity |
LREAL | Absolute value of the velocity in user units/second. For remote hosted robots, the velocity can be programmed in mm/sec or in percentage of maximum. See the MoveOptions input for details. | LREAL#0.0 |
| E |
Acceleration |
LREAL | Value of the acceleration in user units/second^2 (acceleration is applicable with same sign of torque and velocity). For remote hosted robots, acceleration is in percentage of maximum. | LREAL#0.0 |
| E |
Deceleration |
LREAL | Value of the deceleration in user units/second^2 (deceleration is applicable with opposite signs of torque and velocity). For remote hosted robots, deceleration is in percentage of maximum. | LREAL#0.0 |
| E |
Jerk |
LREAL | Not supported; reserved for future use. Value of the jerk in [user units / second^3]. | LREAL#0.0 |
| V | MoveOptions |
Yt_GroupMoveOptions | Commands to specify the pose of a robot mechanism, set Cartesian or rotational velocity, velocity units, etc. | All zeros in structure |
| E | CoordSystem |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. MC_CoordinateSystem#ACS MC_CoordinateSystem#MCS MC_CoordinateSystem#PCS MC_CoordinateSystem#TCS MC_CoordinateSystem#WCS MC_CoordinateSystem#TPCS | MC_CoordinateSystem#ACS |
| E | BufferMode |
MC_BufferMode | Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. MC_BufferMode#Aborting MC_BufferMode#Buffered MC_BufferMode#BlendingLow MC_BufferMode#BlendingPrevious MC_BufferMode#BlendingNext MC_BufferMode#BlendingHigh | MC_BufferMode#Aborting |
| E | TransitionMode |
MC_TransitionMode | Specifies how segments are blended together when multiple MC_MoveLinear and MC_MoveCircular function blocks are buffered. | MC_TransitionMode#TMNone |
| E |
TransitionParameter
|
VECTOR | Additional parameters for the selected TransitionMode.See detailed section about TransitionParameter . | Array of LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Done |
BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | Active |
BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| E | CommandAborted |
BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Notes
- This function cannot be executed after the conveyor tracking feature is enabled when a blended transition is required. Synchronized motion will stop first, then this block will execute the relative move.
Error Description
See the
Function Block ErrorID List
Example 1
Example 2
