MC_MoveRelative

A relative motion is commanded with MC_MoveRelative, in addition to the current position. This is regardless of whether the axis is in the "Discrete Motion" or "Continuous Motion" state. The motion is always executed jerk-limited with the constant set input "Jerk". This value is valid for both "acceleration" and "deceleration".

NC command: 

<axis_name>[ MC_MoveRelativeDistance=<expr> Velocity=<expr> Acceleration=<expr>
Deceleration=<expr> Jerk=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_MoveRelative 1:

Distance

[0,1µm or 10-4 °]

Velocity

[1µm/s or 10-3 °/s]

Acceleration

[1mm/s2 or 1°/s2]

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Programming example

S[MC_MoveRelative Distance=321  Velocity=1200  Acceleration=555
  Deceleration=666  Jerk=222]