MCA_MoveByExtRefRelative (FB)

FUNCTION_BLOCK MCA_MoveByExtRefRelative

This function block gives a reference position to the axis which is directly passed to the position control loop.

The positioning is relative, starting with a rising edge at Execute.

The axis will follow the given position without a ramp but immediately. The reference position is evaluated continuously.

To stop the motion, the function block has to be interrupted by another function block issuing a new command

Note

This block has to be called within the REAL-TIME task, same task as CMC_Basic_Kernel

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	Distance	LREAL	[u] Reference position, as relative position. New values are accepted in a running system without a new rising edge of Execute. The movement is relative from the 1. rising edge. Distance is not allowed to exceed +/-0x7FFFFFFF. The value will be limited accordingly.
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	Done	BOOL	Shows the status of the function block. This output not used in current version
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Axis	Axis_Ref	Reference to axis