MC_MoveContinuousRelative

This FB serves to execute a relative positioning. In contrast to the MC_MoveRelative command, the target position is approached with the defined final velocity. If no further motion command is available in the buffer, the axis continues to traverse with the defined final velocity.

		MC_MoveContinuousRelative
AXIS_REF	-	Axis	InEndVelocity	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
BOOL	-	ContinuousUpdate	Active	-	BOOL
LREAL	-	Distance	CommandAborted	-	BOOL
LREAL	-	EndVelocity	Error	-	BOOL
LREAL	-	Velocity	ErrorID	-	L_IE1P_Error
LREAL	-	Acceleration
LREAL	-	Deceleration
LREAL	-	Jerk
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Start positioning.
ContinuousUpdate BOOL	Continuous acceptance of the profile parameters Control input ContinuousUpdate
FALSE	The profile parameters ( Distance , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .
TRUE	The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change. Note: After the position and final speed ( InEndVelocity = TRUE) have been reached, the profile parameters are not accepted continuously anymore.
Distance LREAL	Distance to be traversed in [unit] With reference to the set position at the starting time of the command.
EndVelocity LREAL	Final velocity in [units/s] for moving to the target position. The final velocity is absolute. This means that the drive moves in a positive direction if the setting is positive and in a negative direction if the setting is negative.
Velocity LREAL	Maximum velocity in [unit/s] for approaching the target position Depending on the profile parameters Position , Acceleration, Deceleration and Jerk , the drive may not reach the maximum velocity. Special case : Velocity = 0: The default value defined in subindex 40 is used for the velocity.
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Special case : Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Start positioning.

ContinuousUpdate

BOOL

Continuous acceptance of the profile parameters

Control input ContinuousUpdate

FALSE

The profile parameters ( Distance , Velocity , Acceleration , ...) are accepted with a rising edge at Execute .

TRUE

The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.

Note: After the position and final speed ( InEndVelocity = TRUE) have been reached, the profile parameters are not accepted continuously anymore.

Distance

LREAL

Distance to be traversed in [unit]

With reference to the set position at the starting time of the command.

EndVelocity

LREAL

Final velocity in [units/s] for moving to the target position. The final velocity is absolute. This means that the drive moves in a positive direction if the setting is positive and in a negative direction if the setting is negative.

Velocity

LREAL

Maximum velocity in [unit/s] for approaching the target position

Depending on the profile parameters Position , Acceleration, Deceleration and Jerk , the drive may not reach the maximum velocity.

Special case :

Velocity = 0: The default value defined in subindex 40 is used for the velocity.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Special case :

Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Outputs

Name Data type	Value/meaning
InEndVelocity BOOL	TRUE	Positioning completed successfully. The defined path has been covered. If the given target position is already overtravelled before the final speed has been reached, the "InEndVelocity" signal will be already set at this time the axis continues to traverse with the defined final speed if no further motion command is available in the buffer.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

In the following example, two FB instances of MC_MoveContinuousRelative and one FB instance of MC_MoveRelative are connected in series as a cascade.

After the respective distance is executed and the final velocity has been reached, the execution of the next instance is started.

As the last FB in the cascade, the motion command MC_MoveRelative is used instead of MC_MoveContinuousRelative in order that the axis comes to a standstill and does not continue to traverse with the defined final velocity.

Example: Linking two MC_MoveContinuousRelative commands with a MC_MoveRelative command