Allen-Bradley Micro800 - Page 464

Chapter 17 Motion control instructions
464 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Arguments
Parameter Parameter type Data type Description
EN Input BOOL Function block enable.
When EN = TRUE, execute current MC_MoveRelative computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AxisIn Input AXIS_REF See also AXIS_REF data type on page 442.
Execute Input BOOL When TRUE, starts the motion at rising edge.
Distance Input REAL Relative distance for the motion (in technical unit [u]).
Velocity Input REAL Value of the maximum velocity (not necessarily reached) [u/s]. As the motion
direction is determined by input Position, the sign of Velocity is ignored by the
function block.
Tip: The maximum velocity may not be reached when Jerk = 0.
Acceleration Input REAL
Value of the acceleration (increasing energy of the motor) [u/s2]
Deceleration Input REAL
Value of the deceleration (decreasing energy of the motor) [u/s2]
Jerk Input REAL Value of the Jerk [u/s
3
]
BufferMode Input SINT This parameter is not used.
ENO Output BOOL Enable out.
Applies only to LD programs.
Axis Output AXIS_REF Axis output is read-only in LD programs.
See also AXIS_REF data type on page 442.
Done Output BOOL When TRUE, commanded distance reached.
When the In-Position input is enabled for an axis, the In-Position signal must be
set to active before Done = True.
Busy Output BOOL When TRUE, the function block is not finished.
Active Output BOOL When TRUE, indicates that the function block has control on the axis
CommandAborted Output BOOL Command is aborted by another command, or Error Stop.
Error Output BOOL When TRUE, an error was detected.
ErrorID Output UINT Error identification.
See also Motion control function block error IDs on page 440.