MC_MoveDirectRelativeΒΆ

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MC_MoveDirectRelative

This Function Block commands a movement of an axes group to a relative position without taking care of how (on which path) the target position is reached. Start position is the actual position of the TCP.

Note

  • The velocity/acceleration/deceleration/jerk of every axis are properties of each axis and not specified within this Function Block, but not to be exceeded during the move.
  • This Function Block applies to the MCS or PCS System, depending which is activated and does not follow the dynamic transformation when activated.

This Function Block is only supported for PLC-based central Motion Control with Coordinated Motion structures.

Behavior of MC_MovePositionDirectRelative

Following example shows the behaviour of MC_MovePositionDirectRelative. All positions are related to MCS:

  • Starting at position p0 (10; 10) a MC_MoveLinearAbsolute to position p1 (80; 35) is commanded,
  • While the TCP is moving towards p1, the MC_MoveLinearAbsolute command is aborted by a MC_MovePositionDirectRelative command. The actual position of the TCP, when MC_MovePositionDirectRelative becomes active, is (44.5; 21.63),
  • The TCP leaves the line p0p1 and moves to the new target position p2 (54.5; 41.63). The resulting trajectory depends on the kinematic transformation of the axes group.
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Example MC_MoveDirectRelative