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• MC_MoveRelative

MC_MoveRelative

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	Axis	AXIS_REF	Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number).
VAR_INPUT
B	Execute	BOOL	Upon the rising edge of the Execute input, all other inputs are read and the function block becomes operational. If an input needs to be modified, the value will have to be changed and the Execute input will have to be re-triggered.	FALSE
B	Distance	LREAL	A relative positive or negative value within the coordinate system in user units	LREAL#0.0
E	Velocity	LREAL	Absolute value of the velocity in user units/second.	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)	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.)	LREAL#0.0
E	Jerk	LREAL	Not supported; reserved for future use. Value of the jerk in [user units / second^3].	LREAL#0.0
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
VAR_OUTPUT
B	Done	BOOL	The Done output is set to TRUE when the commanded action has completed successfully. If another function block takes control before the action is completed, the Done output will never become TRUE. This output is reset when Execute becomes FALSE.
E	Busy	BOOL	For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs.
E	Active	BOOL	The Active output is set to TRUE when the function block takes control of an operation. When commands are buffered, and a queue is generated, only one function block can be active at a time. For non buffered commands, Active and Busy could be the same.
E	CommandAborted	BOOL	The CommandAborted output is set to TRUE if the operation performed by the instance of the function block is aborted by another command.
B	Error	BOOL	The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE.
E	ErrorID	UINT	The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE.

Notes

• This action completes with zero velocity if no further function blocks are pending.
• For further information about the Done output, Profile Complete, and Motion Complete, see the Determining When Motion is Completesection.

Error Description

Example

Example 1: Two MC_MoveRelative Function Blocks executed consecutively. The first motion sequence will move 60.0 units relative to the starting position at a velocity of 30.0 and acceleration of 20.0. The second motion sequence will move 40.0 units at a velocity of 20.0 and acceleration of 20.0.

The Logic Analyzer trace for the above program is shown below:

Example 2: Two MC_MoveRelative Function Blocks executed consecutively. The first motion sequence will move 6000.0 units relative to the starting position at a velocity of 3000.0 and acceleration of 10.0. The second motion sequence will move 4000.0 units at a velocity of 2000.0 and acceleration of 100.0.