7.16.4 MC_MOVERELATIVE

Function

This function block command performs controlled movement of a specified distance relative to the set position when executed.

LD graphics

Parameter description

Parameters	Type	Declaration	Description	Remarks
Axis	AXIS	VAR_IN_OUT	System axis for executing commands	Invoke Function Block
Execute	BOOL	VAR_IN	Rising edge activation
Distance	LREAL	VAR_IN	Relative distance of movement[u]
Velocity	LREAL	VAR_IN	Maximum speed [u/s], which can be a signed value
Acceleration	LREAL	VAR_IN	Acceleration[u/s2]
Deceleration	LREAL	VAR_IN	Deceleration[u/s2]
Jerk	LREAL	VAR_IN	Jerk[u/s3]
BufferMode	USINT	VAR_IN	Define the time sequence of FB: 0 means to immediately abort the ongoing movement (default value); 1 means to affect the axis when the last movement is "complete"
Done	BOOL	VAR_IN	Reach command distance
Busy	BOOL	VAR_OUT	Whether there is a valid output for FB, True:FB is not terminated
Active	BOOL	VAR_OUT	FB control axis
CommandAborted	BOOL	VAR_OUT	The command was terminated by another command
Error	BOOL	VAR_OUT	An error signal has occurred within the FB
ErrorID	WORD	VAR_OUT	Error ID