Parker Compax3 Fluid T40

Motion control C3F_T40
184 192-121102 N04 June 2008
5.6.3. Relative positioning (MC_MoveRelative)
FB name MC_MoveRelative
Relative positioning by a specified distance.
VAR_IN_OUT
Axis
INT Axis-ID (library constants)
VAR_INPUT
Execute
BOOL Starts the sequences of the module with positive edge
Distance
REAL
Relative distance of the movement to be executed
(configured unit [Units] ) <value range> (see page Fehler!
Textmarke nicht definiert.)
MoveVelocity
REAL
Value of maximum speed (always positive)
(not necessarily reached) [Units/s] <value range> (see
page Fehler! Textmarke nicht definiert.)
Acceleration
DINT Value of acceleration (always positive) [Units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Deceleration
DINT Value of deceleration (always positive) [Units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Jerk
DINT Value of the acceleration jerk (see page 183) [Units/s³]
(al
ways positive) <value range> (see page Fehler!
Textmarke nicht definiert.)
JerkDecel
DINT
Value of deceleration jerk [Units/s³] (always positive)
<value range> (see page Fehler! Textmarke nicht
definiert.)
VAR_OUTPUT
Done
BOOL
Specified setpoint distance on the setpoint generator output
is reached
CommandAborted
BOOL Positioning aborted
Error
BOOL Error while executing module
Note:
 In the case of dynamic positioning (module is called during a positioning process)
the specified position is added to the current actual position.
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see page 150)
software tool!
Execute : BOOL
Distance : REAL
Done : BOOL
Error : BOOL
MC_MoveRelative
CommandAborted : BOOL
Velocity : REAL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)