MC_MoveRelative (FB)

FUNCTION_BLOCK MC_MoveRelative

This function block commands a controlled motion of a specified distance relative to the set position at the time of the execution. The motion ends with velocity is 0.

Example

Use of MC_MoveRelative

The illustration shows how two instances (First and Second) of the type MC_MoveRelative are combined.

In the left-hand part of the illustration, Second is called after First. If First has achieved the specified position 6000, the velocity is 0 and First.Done is set, then the Second instance will cause the axis to move to the position 10000.

In the right-hand part of the illustration, the execution is started by Second while First is still operating. The motion of First is interrupted and aborted by the Test signal which is transmitted during the constant velocity phase of First. The distance 4000 is added to the actual position 3250. Then Second moves the axis to the resulting position 7250.

Sequence of two complete actions: Sequential execution of two complete motions.

The second motion interrupts the first motion: The motion of instance Second interrupts the motion of instance First.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3		Reference to axis
Input	Execute	BOOL	FALSE	TRUE: Starts execution.
	Distance	LREAL	0	Relative distance for the motion in technical unit [u].
	Velocity	LREAL	0	Maximum velocity Is always positive in [u/s]. Does not need to be achieved.
	Acceleration	LREAL	0	Acceleration Is always positive in [u/s²]. Increasing motor energy
	Deceleration	LREAL	0	Deceleration Is always positive in [u/s²]. Decreasing motor energy
	Jerk	LREAL	0	Jerk always positive in [u/s³]
Output	Done	BOOL	FALSE	TRUE: Distance has been achieved.
	Busy	BOOL	FALSE	TRUE: Function block is in operation.
	CommandAborted	BOOL	FALSE	TRUE: Execution has been interrupted by another function block instance operating on the axis.
	Error	BOOL	FALSE	TRUE: Error has occurred.
	ErrorID	SMC_ERROR	0	Error identification