MC_MoveRelative

The function block MC_MoveRelative starts a relative positioning procedure based on the current set position and monitors the axis movement over the whole travel path. The "Done" output is set once the target position has been reached. Otherwise, the output "CommandAborted" or, in case of an error, the output "Error" is set.

Inputs

VAR_INPUT
    Execute      : BOOL;
    Distance     : LREAL;
    Velocity     : LREAL;
    Acceleration : LREAL;
    Deceleration : LREAL;
    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 travel velocity (>0).
Acceleration	LREAL	Acceleration (≥0)
Deceleration	LREAL	Deceleration (≥0)
Options	ST_MoveOptions	Data structure (ST_MoveOptions) containing additional, rarely used parameters. The input can normally remain unused.

	See also: General rules for MC function blocks.

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
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	TRUE when the target position has been reached.
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 "Done", "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.

	See also: General rules for MC function blocks.

Requirements

Development environment	PLC libraries to include
TwinCAT 3.1.4024.11	Tc3_DriveMotionControl