MC_MoveRelative (FB)¶

FUNCTION_BLOCK MC_MoveRelative

This function block commands a controlled motion of a specified distance. The motion ends in standstill (unless blended to a followup movement).

Example

Use of MC_MoveRelative

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

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

InOut:

Scope	Name	Type	Comment
Inout	Axis	AXIS_REF_SM3	Reference to axis
Input	Execute	BOOL	TRUE: Starts execution.
	Distance	LREAL	Relative distance for the motion in technical unit [u].
	Velocity	LREAL	Maximum velocity in techincal units per second [u/s]. Is always positive. Is not necessarily reached.
	Acceleration	LREAL	Acceleration in [u/s²]. Is always positive. Increasing motor energy
	Deceleration	LREAL	Deceleration in [u/s²]. Is always positive. Decreasing motor energy
	Jerk	LREAL	Maximum magnitude of jerk in [u/s³]
	BufferMode	MC_BUFFER_MODE	Defines the chronological sequence of the FB relative to the previous block. If the function block is Busy, then only BufferMode=Aborting is allowed.
Output	Done	BOOL	TRUE: Distance has been achieved.
	Busy	BOOL	TRUE: Function block is in operation.
	Active	BOOL	Indicates that the FB has control on the axis
	CommandAborted	BOOL	TRUE: Execution has been interrupted by another function block instance operating on the axis.
	Error	BOOL	TRUE: Error has occurred.
	ErrorID	SMC_ERROR	Error identification