MC_MoveDirRel
Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Commands movement of an axes group to a relative position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. regardless of path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along..
Inputs
Outputs
Output |
Data Type |
Range |
Unit |
Description |
---|---|---|---|---|
Done |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the command completed successfully. |
Busy |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the function block is executing. |
Active |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the function block is controlling motion. |
CommandAborted |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the command was aborted by another function block. |
Error |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, an error has occurred. |
ErrorID |
INT |
-32768 to +32767 |
N/A |
Indicates the error if Error output is TRUE. |
Remarks
- See Coordinated Motion, the top-level topic for Coordinated Motion.
- See Function Blocks - General Rules about how inputs and outputs work.
- When all motion has completed successfully, the axes group state is GroupStandby.
- MC_MoveDirRel commands a movement of an axes group to a relative position in the specified coordinate system regardless of how (on which path) the target position is reached.
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-
- An error is returned if the group is in the GroupDisabled state.
- This function block does not have its own Acceleration A change in velocity over time.
Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction.
In one dimension, acceleration is the rate at which something speeds up or slows down.
However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction.
See these Wikipedia articles for more information:
http://en.wikipedia.org/wiki/Velocity
http://en.wikipedia.org/wiki/Euclidean_vector
http://en.wikipedia.org/wiki/Rate_(mathematics), Deceleration, Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP, and Jerk In physics, jerk is the rate of change of acceleration.
More precisely, the derivative of acceleration with respect to time. arguments.
- These are set using MC_AxisSetDefaults.
- The maximum number of axes is set by the MaxNumberOfAxes input set in the MC_CreateAxesGrp function block.
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-
- Circular motion is only supported for axes groups with only two attached axes.
Figure 1: MC_MoveDirRel
FBD Language Example
FFLD Language Example
IL Language Example
BEGIN_IL Instruction list - This is a low-level language and resembles assembly. CAL Inst_MC_MoveDirRel( ExecuteMove, Group1_Ref, DistanceList, MC_COORDINATE_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING ) END_IL
ST Language Example
Inst_MC_MoveDirRel( ExecuteMove, Group1_Ref, DistanceList, MC_COORDINATE_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING );
See Also