Delta AX Series

AX-Series Motion Controller Instructions Manual Chapter 2
420
2.3.3.7 MC_MoveRelative_DML
 Supported Devices: AX-308E, AX-364E
MC_MoveRelative_DML controls the specified axis to move to the specified relative target position according to the specified
motion behavior.
FB/FC Instruction Graphic Expression
FB MC_MoveRelative_DML
ST Language
MC_MoveRelative_DML_instance(
Axis : =,
bExecute : =,
lrDistance : =,
lrVelocity : =,
lrAcceleration : =,
lrDeceleration : =,
bDone =>,
bBusy =>,
bCommandAborted =>,
bError =>,
ErrorID => );
 Inputs
Name Function
Data
Type
Setting Value
(Default)
Timing to Take Effect
bExecute
The instruction is run
when bExecute turns to
True.
BOOL
True/False
(False)
-
lrDistance
Relative distance to be
moved
(Unit: user unit)
LREAL
Negative, positive or 0
(0)
When bExecute turns to True and
bBusy is False.
lrVelocity
Target velocity
(Unit: user unit/s)
LREAL
Positive or 0
(0)
When bExecute turns to True and
bBusy is False.
lrAcceleration
Acceleration rate
(Unit: user unit/s
2
)
LREAL
Positive
(0)
When bExecute turns to True and
bBusy is False.
lrDeceleration Deceleration rate LREAL Positive
When bExecute turns to True and
bBusy is False.