MC_MoveRelative_SML (FB)¶

FUNCTION_BLOCK FINAL MC_MoveRelative_SML

Commands a controlled motion of a specified distance relative to the position at the time of the execution.

The following figure shows the example of the combination of two instances of MC_MoveRelative_SML:

1. The left part of the timing diagram illustrates the case if the second FB is called after the first one. If first reaches the commanded distance 6000 (and the velocity is 0), then the output Done causes the second FB to move the commanded distance 4000 to the resulting absolute position 10000.

2. The right part of the timing diagram illustrates the case if the second FB starts the execution while the first FB is still executing. In this case, the first motion is interrupted and aborted by the Test signal during the constant velocity phase of the first FB. The second FB adds the distance 4000 to the actual position of 3250 to the resulting absolute position of 7250.

InOut:

Scope	Name	Type	Comment
Inout	Axis	Axis_REF_SML	Reference to the axis
Input	Execute	BOOL	Rising edge: The motion is started
	Distance	LREAL	Relative distancefor the motion (in technical units [u])
	Velocity	LREAL	Value of the maximum velocity (always positive) (not necessarily reached) [u/s]
	Acceleration	LREAL	Value of the acceleration (always positive) (increasing energy of the motor) [u/s²]
	Deceleration	LREAL	Value of the deceleration (always positive) (decreasing energy of the motor) [u/s²]
Output	Done	BOOL	Commanded distance reached
	Busy	BOOL	The motion is not finished and new output values are to be expected
	CommandAborted	BOOL	The motion was interrupted by a motion command acting on the same axis
	Error	BOOL	Signals that an error has occured
	ErrorID	SML_ERROR	Error number