13.7.3.7 FB 804 - MC_MoveRelative - move axis relative
An overview of the drive systems, which can be controlled with this block
can be found here:
Ä
Chap. 13.7.1 ‘Overview’ page 542
With MC_MoveRelative the axis is moved relative to the position in order to start a speci-
fied distance. With the parameters Velocity, Acceleration and Deceleration the dynamic
behavior can be determined during the movement.
Parameter
Parameter Declaration Data type Description
Axis IN_OUT MC_AXIS_REF Reference to the axis
Execute INPUT BOOL
n Move axis relative
– Edge 0-1: The relative movement of the axis is
started
ContinuousUp-
date
INPUT BOOL Parameter is currently not supported; call with FALSE
Distance INPUT REAL Relative distance in [user units]
Velocity INPUT REAL Max. Velocity (needs not necessarily be reached) in [user
units/s]
Acceleration INPUT REAL
Acceleration in [user units/s
2
]
Deceleration INPUT REAL
Delay in breaking in [user units/s
2
]
Jerk INPUT REAL Parameter is currently not supported; call with 0.0
BufferMode INPUT BYTE Parameter is currently not supported; call with B#16#0
Done OUTPUT BOOL
n Status
– TRUE: Job successfully done; target position reached
Busy OUTPUT BOOL
n Status
– TRUE: Job is running
Active OUTPUT BOOL
n Status
– TRUE: Block controls the axis
CommandA-
borted
OUTPUT BOOL
n Status
– TRUE: The job was aborted during processing by
another job
Error OUTPUT BOOL
n Status
– TRUE: An error has occurred. Additional error infor-
mation can be found in the parameter ErrorID.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
n Start of the job in the PLCopen-States Standstill, Discrete Motion and Continuous
Motion possible.
n MC_MoveRelative switches the axis to the PLCopen-State Discrete Motion.
Description
PLCopen-State
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 557
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