SMC_MoveContinuousRelative (FB)

FUNCTION_BLOCK SMC_MoveContinuousRelative

This function block executes a relative movement, but in opposite to MC_MoveRelative will not reach the target position with velocity value zero, but with a specified velocity. It is designed for generating via movements. When having reached the target position, the function block sets the InEndVelocity output and keeps this velocity until interrupted by another drive.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3		Reference to axis
Input	Execute	BOOL		Rising edge: Starts the execution of the function block.
	Distance	LREAL		Relative distance for motion (in technical units [u])
	Velocity	LREAL		Value of maximum velocity (not necessarily reached) [u/s]
	EndVelocity	LREAL		Unsigned (!) value of end velocity [u/s]
	EndVelocityDirection	MC_Direction	current	Determines direction of end velocity; permissible values: positive, negative, current; not applicable: shortest, fastest
	Acceleration	LREAL		Value of acceleration (increasing energy of the motor) [u/s²]
	Deceleration	LREAL		Value of deceleration (decreasing energy of the motor) [u/s²]
	Jerk	LREAL		Value of the Jerk [u/s³]
Output	InEndVelocity	BOOL		TRUE: Commanded distance has been reached. Axis runs with commanded velocity``EndVelocity``.
	Busy	BOOL		TRUE: Execution of function block has not been finished yet.
	CommandAborted	BOOL		TRUE: Command has been aborted by another command.
	Error	BOOL		TRUE: Error has occurred within the function block.
	ErrorID	SMC_ERROR		Error identification