MC_MoveDirRel

 Function Block - Commands movement of an axes group to a relative position regardless of path.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to perform a direct relative move.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	Reference to an axes group.
Distance	LREAL[ ]	Dimension: The number of axes in the AxesGroup. No range	User units	No default	An array containing the distance for each axis in the group.
CoordSystem	SINT	Enumerated	N/A	No default	The coordinate system used when commanding the direct relative move. Only the ACS and MCS coordinate system are supported. See Coordinate Systems. One of these enumeration values: Value Description CS_ACS Axes Coordinate System CS_MCS Machine Coordinate System CS_PCS Product Coordinate System
BufferMode	SINT	Enumerated	N/A	No default	Defines the chronological sequence of the function block relative to the previous block. Blending buffer modes are not supported by direct moves. These are the valid buffer modes for this function block: Value Description BM_ABORTING Aborting Mode BM_BUFFERED Buffered Mode See Buffer Modes.

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	Enumerated	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

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, Deceleration, Velocity, and Jerk 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

Not available.

ST Language Example

Inst_MC_MoveDirRel(ExecuteMove, Group1_Ref, DistanceList, , CS_ACS, BM_ABORTING);

See Also

• MC_ErrorDescription
• MC_MoveDirAbs