Input Description

MC_MoveLinearRelative

Note

The inputs marked with a triangle are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.

Execute

Data type: BOOL

Starts the Function Block at rising edge.

Distance

Data type: ARRAY [1..3] OF LREAL

Array of relative distances for each dimension in the specified coordinate system.

Velocity

Data type: LREAL, range: > 0, unit: u/s

Value of the maximum velocity (not necessarily reached).

Acceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the acceleration (increasing energy of the motor).

Deceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the deceleration (decreasing energy of the motor).

Jerk

Data type: LREAL, range: > 0, unit: u/s:sup:3

Value of the Jerk.

BufferMode

Data type: MC_BUFFERMODE, default: MC_Aborting, no other modes supported

Defines the behavior of the axis.

TransitionMode

Data type: MC_TRANSITION_MODE

The realization just supports by default a transition starting with the actual velocity.

TransitionParameter

Data type: LREAL

Additional parameter for the transition mode.

AxesGroup

Data type: AXES_GROUP_REF

Reference to a group of axes.