MoveRelative (relative positioning)

This state makes traversing to the relative position specified possible.

In the "MoveRelative" status, the following actions are carried out:

Creation of the motion profile for the "MoveRelative" function.

Modulo axes and linear axes are supported.

During the travel, the position can be changed by enabling the Execute input again.

Name Data type	Information/possible settings
xMoveRelExecute BOOL	FALSE Ã¤ TRUE	Activate relative positioning. Abort of the function via the xAxisStop input.
xContinuousUpdate BOOL	TRUE	The inputs lrSetPos_Dist, lrSetVel, lrSetAcc, lrSetDec and lrsetJerk are cyclically checked for changes and accepted, Control input ContinuousUpdate
lrSetPos_Dist LREAL	Distance to be traversed in [unit] With reference to the set position at the starting time of the command.
lrSetVel LREAL	Velocity in [unit/s] Specification of the maximum velocity at which positioning is to be carried out. Only positive values permissible.
lrSetAcc LREAL	Acceleration in [unit/s ² ] Specification of the maximum velocity variation which is to be used for acceleration. Only positive values permissible.
lrSetDec LREAL	Deceleration in [unit/s ² ] Specification of the velocity variation which is to be used for maximum deceleration to standstill. Only positive values permissible.
lrSetJerk LREAL	Jerk in [unit/s ³ ] Only positive values permissible. If this input is not assigned, the jerk defined in the axis data is used.

Name Data type	Value/meaning
lrActPos LREAL	Current position in [unit]
lrActVel LREAL	Current velocity in [unit/s]
lrSetPosOut LREAL	Setpoint position in [unit]
lrSetVelOut LREAL	Setpoint velocity in [unit/s]
lrActFollowingError LREAL	Current following error in [unit]
xConstantVelocity BOOL	TRUE	Specified velocity lrSetVel has been reached for the first time.
xAccelerating BOOL	TRUE	Axis is accelerated. (Increase in the speed value.)
xDecelerating BOOL	TRUE	Axis is decelerated/braked. (Decrease in the speed value.)
xDirectionPositive BOOL	TRUE	Axis traverses in positive direction.
xDirectionNegative BOOL	TRUE	Axis traverses in negative direction.
xInPosition BOOL	TRUE	Target position reached The behaviour of the output can be parameterised via the parameters in the Axis Ref subindex 130 and 131.