MCA_MoveRelativeOpti¶
This function block is designed to allow an easier setup for positioning movement. The input MoveTime which receives the allowed time to move the given distance. The other inputs, as Velocity, Acceleration, Deceleration and Jerk can be left “0”, then the movement will use the system limits and perform an as “soft” as possible positioning.
- It will always use a Jerk (when possible).
- To switch off the usage of Jerk, use Jerk = -1 as input parameter.
- Use the smallest possible acceleration/deceleration.
- Use the smallest possible velocity.
If it is not required to create a movement with limited Jerk, the input Jerk = -1 should be used. The acceleration and deceleration is applied with a “jump” but a smaller maximum value is reached.
If parameters as Velocity, Acceleration and Deceleration are set, these will be considered to be the upper limits during the movement. If it is not possible to execute the movement in the given time, an error will be shown. The function block gives also a suggestion which values could be used to execute the movement within the time limitations.
If the velocity was too small, the internal variable usedVelocity will hold the smallest possible value to execute the movement in the given time. This would mean execute it without any ramps. usedAcceleration and usedDeceleration will be “0” in this case.
If the velocity was ok, but acceleration and deceleration too small, usedVelocity will show the value from input Velocity and variables usedAcceleration and usedDeceleration will hold the necessary values to execute the movement in the given time.
Note
With move_Time = 0, the behavior for the function block is identical with MC_MoveRelative MC_MoveRelative.
It is possible to use just Distance and MoveTime as input parameters. In this case, the function block will take the axis configuration parameters as limitations for the movement and always create the smoothest possible interpolation.
If parameters are given which are not possible to use, e.g. velocity is too small to reach the target in the given time, the function block´s internal variables usedJerk, usedVelocity, usedAcceleration and usedDeceleration will show a possible solution.
See the following chapter to check if this Function Block is supported by the used axis implementation: Overview
For this Function Block there is a visualization in the Library MC_Blocks_AC500_V11.
See the following chapter for a list of available data types: Overview