MC_MoveContinuousRelative

MC_MoveContinuousRelative 1:

MC_MoveContinuousRelative starts positioning by a relative distance and monitors the axis movement over the whole 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 CommandAborted or, on error, the Error output is set.

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

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

MC_BufferMode

Execute	The command is executed with a rising edge at input Execute.
Distance	Relative distance to be used for positioning.
Velocity	Maximum velocity for the movement over the distance (>0).
EndVelocity	End velocity to be maintained after the relative distance
Acceleration	Acceleration (≥0). If the value is 0, the standard acceleration from the axis configuration in the System Manager is used.
Deceleration	Deceleration (≥0). If the value is 0, the standard deceleration from the axis configuration in the System Manager is used.
Jerk	Jerk (≥0). If the value is 0, the standard jerk from the axis configuration in the System Manager is used.
BufferMode	The BufferMode is analyzed, if the axis is already executing another command. The running command can be aborted, or the new command becomes active after the running command. The BufferMode also determines the transition condition from the current to the next command. A second function block is required to use the buffer mode. It is not possible to trigger a move block with new parameters while it is active.
Options	The data structure option includes additional, rarely required parameters. The input can normally remain open.

General rules for MC function blocks

Outputs

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

InEndVelocity	The InEndVelocity output becomes TRUE once the target position was reached. The function block remains Busy and Active until a new command is issued.
Busy	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the movement command is processed. If Busy becomes FALSE again, the function block is ready for a new order. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	Active indicates that the command is executed. If the command was buffered, it becomes active once a running command is completed.
CommandAborted	Becomes TRUE, if the command could not be fully executed. The axis may have been stopped, or the running command may have been followed by a further Move command.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.

General rules for MC function blocks

Inputs/outputs


VAR_IN_OUT
    Axis     : AXIS_REF;
END_VAR

AXIS_REF

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.

	MC_MoveContinuousRelative is not implemented for fast/slow axes.