MC_MoveContinuousRelative

MC_MoveContinuousRelative 1:

The function block MC_MoveContinuousRelative is used to start a positioning by a relative distance and to monitor the axis movement over the entire travel path. At the target position a constant end velocity is reached, which is maintained. The "InEndVelocity" output is set once the target position was reached. Otherwise, the output "CommandAborted" or, in case of an error, the output "Error" is set.

Once the target position has been reached, the block function is complete and the axis is no longer monitored.

	MC_MoveContinuousRelative is not implemented for fast/slow axes.

Inputs

VAR_INPUT
    Execute      : BOOL;
    Distance     : LREAL; 
    Velocity     : LREAL; 
    EndVelocity  : LREAL; 
    Acceleration : LREAL; 
    Deceleration : LREAL; 
    Jerk         : LREAL;
    BufferMode   : MC_BufferMode;
    Options      : ST_MoveOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
Distance	LREAL	Relative distance to be used for positioning.
Velocity	LREAL	Maximum velocity for the movement over the "Distance" (>0).
EndVelocity	LREAL	End velocity to be maintained after the relative "Distance".
Acceleration	LREAL	Acceleration (≥0) If the value is 0, the standard acceleration from the axis configuration in the System Manager is used.
Deceleration	LREAL	Deceleration (≥0) If the value is 0, the standard deceleration from the axis configuration in the System Manager is used.
Jerk	LREAL	Jerk (≥0) At a value of 0, the standard jerk from the axis configuration in the System Manager is applied.
BufferMode	MC_BufferMode	Is evaluated if the axis is already executing another command. MC_MoveContinuousRelative becomes active after the current command or aborts it. Transition conditions from the current to the next command are also determined by the BufferMode. A second function block is always required to use the BufferMode. It is not possible to trigger a move function block with new parameters while it is active.
Options	ST_MoveOptions	Data structure containing additional, rarely used parameters. The input can normally remain open.

Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    InEndVelocity  : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
InEndVelocity	BOOL	TRUE when the target position has been reached. The function block remains "Busy" and "Active" until a new command is issued.
Busy	BOOL	TRUE as soon as the command is started with "Execute" and as long as the movement command is processed. If "Busy" is FALSE, the function block is ready for a new order. At the same time one of the outputs "CommandAborted" or "Error" is set.
Active	BOOL	Indicates that the command is executed. If the command was buffered, it becomes active once a running command is completed.
CommandAborted	BOOL	TRUE if the command could not be executed completely. The axis was stopped or the current command was replaced by another Move command.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2