MC_MoveRelative command

MC_MoveRelative commands a relative motion in addition to the current position. This is regardless of whether the axis is in "Discrete Motion" or "Continuous Motion" state. The motion is always executed jerk-limited at the constant set in "Jerk”. This value is valid for both "Acceleration" and "Deceleration".

If the optional parameters “Acceleration", "Deceleration” and “Jerk” are not specified or set to ≤ 0, the dynamic values are taken from the corresponding axis list.

Optionally, the program can wait for the job to end (“WaitSyn” keyword) or can assign a Job ID (“Id” keyword) for later synchronisation.

NC command:

<axis_name>[ MC_MoveRelative Distance=<expr> Velocity=<expr> [Acceleration=<expr>]
                     [Deceleration=<expr>] [Jerk=<expr>] [Id=<expr>] [WaitSyn] { \ } ]

Block diagram of the function block in PLCopen:

Input pin

Unit

Distance

[0.1 µm or 10-4 °]

Velocity

[1 µm/s or 10-3 °/s]

Acceleration

[1 mm/s2 or 1°/s2]

Deceleration

[1 mm/s2 or 1°/s2]

Jerk

[1 mm/s3 or 1°/s3]

Programing Example

prg_example

MC_MoveRelative command

S[MC_MoveRelative Distance=321 Velocity=1200 Acceleration=555 \

Deceleration=666 Jerk=22000]