MC_MOVERELATIVE

Function Description

The MC_MOVERELATIVE function is used to execute a move to relative position command (in relation to the current position of the servodrive).

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

LD Axis

CAL MC_MOVERELATIVE_Instance(AXIS:=AXIS, EXECUTE:=EXEC, DISTANCE:=DIS, VELOCITY:=V, ACCELERATION:=ACC, DECELERATION:=DEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_MOVERELATIVE_Instance(AXIS:=AXIS, EXECUTE:=EXEC, DISTANCE:=DIS, VELOCITY:=V, ACCELERATION:=ACC, DECELERATION:=DEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID);

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
DISTANCE	DINT	Value specifying the distance that the servodrive must cover.
VELOCITY	UDINT	Speed value.
ACCELERATION	UDINT	Acceleration value.
DECELERATION	UDINT	Deceleration value.

NOTE: The value 0 for the acceleration and deceleration parameters allows you to use the value configured in the servodrive. If the value is other than 0, the servodrive takes this value into account.