MC_MoveContinuousRelative (FB)

FUNCTION_BLOCK MC_MoveContinuousRelative

This function block commands a controlled motion of a specified relative distance, ending with the specified velocity.

• If the commanded position is reached and no new motion command is put into the buffer, the axis continues to run with the specified “EndVelocity”.

• The function block will start the axis with state DiscreteMotion, while positioning.

• It will change to state continuous motion (meaning: it will not stop by itself) with EndVelocity <> 0.

• It will change to standstill with EndVelocity = 0.

• This function block is specified here for systems without the support for the “BufferMode”.

Sampling traces showing the effect of the sign of the value of the input EndVelocity

Input EndVelocity with positive direction

Input EndVelocity with negative direction

Example for MC_MoveContinuousRelative

Note

Input validation is done at the rising edge of Execute. If function block is in Active/Busy state, new value at input will not be validated. If value passed is invalid function block will continue execution with last valid value.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	ContinuousUpdate	BOOL	Decide if new input parameters are processed during the movement
	Distance	LREAL	[u] = Technical unit, Relative distance for the motion. Range: Maximum range is 16#7FFFFFFF in increments, if configured in units, range will be limited to equivalent of 16#7FFFFFFF increments
	EndVelocity	LREAL	[u/s] Signed value for the end veloicty, determines the direction when ending the positioning movement
	Velocity	LREAL	[u/s] Value of the maximum velocity (not necessarily reached). Range: >0
	Acceleration	LREAL	[u/s°°2] Value of the acceleration (increasing energy of the motor). Range: >0,If value = 0, Acceleration will be equal to parameter paraMaxAccelerationAppl.If value > 0 and <= 1,Acceleration will be limited to 1.
	Deceleration	LREAL	[u/s°°2] Value of the deceleration (decreasing energy of the motor). Range: >0,If value = 0, Deceleration will be equal to parameter paraMaxDecelerationAppl.If value > 0 and <= 1,Deceleration will be limited to 1.
	Jerk	LREAL	[u/s°°3] Value of the jerk. Range: >=0
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	InEndVelocity	BOOL	Commanded position finally reached
	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