Danfoss VLT series Programming Guide

6.5.5.5 MC_MoveRelative_ISD51x
This function block commands a controlled motion of a
specied distance relative to the set position at the time of
execution. This action completes with velocity 0 if no
further actions are pending. Only positive values are
allowed for the inputs Velocity, Acceleration, and
Deceleration.
The command is transferred immediately and, in aborting
buer mode, is also executed immediately.
MC_MoveRelative_ISD51x
ExecuteBOOL
Axis
AXIS_REF_-
ISD51x
BOOLBusy
BOOLDone
BOOLCommand
Aborted
BOOL
BOOLError
DD_ERROR_-
ISD51x
ErrorInfo
Active
DistanceDINT
AccelerationUDINT
DecelerationUDINT
BuerModeMC_BUFFER_-
MODE_ISD51x
TorqueLimitUINT
VelocityDINT
130BE286.10
Illustration 6.63 MC_MoveRelative_ISD51x
Variable
name
Data type Default
value
Description
VAR_IN_OUT
Axis AXIS_REF_ISD51x Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
VAR_INPUT
Execute BOOL FALSE Start the motion at rising
edge.
Distance DINT 0 Commanded position for
motion [user-dened
position unit]. Can be a
positive or negative value.
Velocity DINT 0 Value of the maximum
velocity (not necessarily
reached) [user-dened
velocity unit]. Only values
>0 allowed.
Acceleration UDINT 0 Value of the acceleration
(increasing energy of the
motor) [user-dened
acceleration unit]. Only
values >0 are allowed.
Deceleration UDINT 0 Value of the deceleration
(decreasing energy of the
motor) [user-dened
acceleration unit]. Only
values >0 are allowed.
Variable
name
Data type Default
value
Description
BuerMode MC_BUFFE
R_MODE_I
SD51x
mcAbort
ing_ISD5
1x
Denes the chronological
sequence of the function
block. See Table 6.43 for
available values.
TorqueLimit UINT 0xFFFF Maximum torque used
during this motion [per
thousand of rated torque].
VAR_OUTPUT
Done BOOL Commanded distance
reached.
Busy BOOL The function block is not
nished and new output
values are to be expected.
Active BOOL The function block has
control on the axis.
CommandA-
borted
BOOL Command is aborted by
another command.
Error BOOL An error has occurred
within the function block.
ErrorInfo DD_ERROR_ISD51x Error identication and
instance identier.
See chapter 6.5.2.3 Error
Indication.
Table 6.44 MC_MoveRelative_ISD51x
The buer mode itself is described in more detail in
chapter 2.4.1 Prole Position Mode. It is only possible to
have 1 buered position. Trying to command a 2
nd
buered command leads to an error.
MC_MoveRelative with BuerMode = Aborting
The potentially ongoing positioning is aborted
immediately. The new target position is the actual position
of the axis at the point of the rising edge of Execute of the
function block, plus the value of the Distance input of
MC_MoveRelative_ISD51x. The trajectory parameters
(Velocity, Acceleration, and Deceleration) are used
immediately.
If the function block is activated in the axis state Continu-
ousMotion, the specied relative distance is added to the
set position at the point of the rising edge of Execute. This
applies for both buer modes Buered and Aborting.
Programming Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 205
6
6

Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)