MC_MoveLinearRelative

This FB serves to carry out a linear interpolation for an axes group starting from the current position of the TCP towards a relative position in the specified coordinate system.

  • After the target position has been reached, the axes of the axes group are in the "GroupStandby" state if no further motion commands are pending.
Danger!

All paths have to be first tested with override or in the simulation mode with virtual axes!

Note!

Cartesian path movements can only be executed if all drive axes are referenced to the zero positions defined in the " Supported kinematics " section.

 

 

 

MC_MoveLinearRelative

 

 

 

AXES_GROUP_REF

-

AxesGroup

Done

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

ARRAY [1..12] OF LREAL

-

Distance

Active

-

BOOL

LREAL

-

Velocity

CommandAborted

-

BOOL

LREAL

-

Acceleration

Error

-

BOOL

LREAL

-

Deceleration

ErrorID

-

L_IE1P_Error

LREAL

-

Jerk

L_MC4P_CoordSystem

-

CoordSystem

ARRAY [1..6] OF
L_MC4P_AuxMode

-

aeAuxMode

MC_BUFFER_MODE

-

BufferMode

MC_TRANSITION_MODE

-

TransitionMode

ARRAY [ 1..12 ] OF LREAL

-

TransitionParameter

L_MC4P_Orientation_Mode

-

OrientationMode

ARRAY[4..6] OF MC_DIRECTION

-

Direction

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

Execute

BOOL

FALSE รค TRUE

Start positioning.

Distance

ARRAY [1..12] OF LREAL

Array with relative target coordinates in [unit]

  • With reference to the set position at the starting time of the command.
  • For linked movements: With reference to the target position of the previous movement

Relative target position of the movement

  • [1; 6]
    • Coordsystem = ACS: Distance of the drive axes
    • Coordsystem = WCS , MCS or PCS : Distance of the TCP in the selected coordinate system
  • Index 7 ... 12:
    • Target position of the optionally available auxiliary axes

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.

Acceleration

LREAL

Maximum acceleration in [unit/s 2 ]

Deceleration

LREAL

Maximum deceleration in [unit/s 2 ]

Jerk

LREAL

Maximum jerk in [unit/s 3 ]

CoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system to be used:

  • WCS: World Coordinate System
  • MCS: Machine Coordinate System
  • ACS: Axes Coordinate System
  • PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Coordinate systems and transformations

aeAuxMode

ARRAY [1..6] OF L_MC4P_AuxMode

Mode for the auxiliary axes:

  • Inactive: Auxiliary axis coordinates are ignored.
  • Continuous: Smoothing the auxiliary axis via several MC_Move blocks.
  • DiscreteAbsolute: Auxiliary axis position is set at the end of each motion segment (similar to the main axes).
  • DiscreteRelative: Auxiliary axis position is set at the end of each motion segment (similar to the main axes).

Auxiliary axes

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

TransitionMode

MC_TRANSITION_MODE

Mode for the path behaviour at the motion end

TransitionMode and TransitionParameter

TransitionParameter

ARRAY [1..12] OF LREAL

Description of the TransitionParameter parameter
Parameter for "Transition loops"

Only relevant if TransitionMode = TMCornerDistance has been selected.

* TransitionParameter[1]

  • Specification of the grinding radius of the starting point or to the previous movement as a symmetrical distance in [mm].
  • Value is used if TransitionParameter[1] > 0

* TransitionParameter[2]

  • Specification of the blending radius of the starting point or the previous movement relative to half the path length of the movements in [%].
  • Value is used if TransitionParameter[1] = 0 and TransitionParameter[2] > 0

* TransitionParameter[3...12]

  • Reserved for future functional enhancements

OrientationMode

L_MC4P_Orientation_Mode

Specification of the orientation interpolation for the WCS axes

  • ShortestSpacialWay : The target orientation is approached so that the shortest possible spatial angle results for the sum of movements. For 4D kinematics this is equivalent to mcShortestWay for the C axis. (default)
  • AxisIndividual : The direction of movement can be specified independently for each orientation axis via the Direction input.

See also: Direction selection for Modulo axes

Direction

ARRAY[4..6] OF MC_DIRECTION

Direction select for orientation axes (WCS axes) parameterised as "Modulo". The input is only evaluated with
OrientationMode:= L_MC4P_Orientation_Mode.AxisIndividual .

Index 4 ... 6: Main axes A, B, C

Permitted selection:

  • mcPositiveDirection : Positive direction
  • mcNegativeDirection : Negative direction
  • mcShortestWay : Shortest way (default)

Modes mcCurrentDirection , mcPositiveCycle and mcNegativeCycle are not supported.

See also: Direction selection for Modulo axes

Outputs

Name

Data type

Value/meaning

Done

BOOL

TRUE

Positioning completed successfully.

Busy

BOOL

TRUE

Processing is running.

  • The Busy output matters if a motion control is carried out by several FBs (BufferMode).

Active

BOOL

TRUE

The command of the FB is currently executed.

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.

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