Function BlockMC_MoveDirRelPLCopen motion iconPipe Network motion icon

Description

MC_MoveDirRel commands a movement of an axes group to a relative position in the specified coordinate system without taking care of how (on which path) the target position is reached.

When all motion has completed successfully, the state of the axes group goes to GroupStandby.

Figure 7-183: MC_MoveDirRel

Related Functions

MC_MoveDirAbs, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute Description

On the rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge request to perform a direct relative move.

  Data type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroup Description Reference to an axes group
  Data type AXES_GROUP_REF
  Range
  Unit N/A
  Default
Distance[ ] Description An array containing the distance for each axis in the group.
  Data type LREAL
  Range [0, Number of axes in group - 1]
  Unit N/A
  Default
CoordSystem Description

The coordinate system used when commanding the direct relative move.

Currently, only the ACS coordinate system is supported. See Coordinate Systems to learn more.

  Data type SINT
  Range
  • MC_COORDINATE_SYSTEM_ACS = 0
  • MC_COORDINATE_SYSTEM_MCS = 1
  • MC_COORDINATE_SYSTEM_PCS = 2
  Unit N/A
  Default
BufferMode Description

Defines the chronological sequence of the function block relative to the previous block.

See the table in Buffer Modes

  Data type

SINT

MC_BUFFER_MODE_ABORTING = 0 = Abort
MC_BUFFER_MODE_BUFFERED = 1 = Buffered

  Range
  Unit N/A
  Default

Output

Done Description

If True, then the command completed successfully.

  Data type BOOL
Busy Description

If True, then the function block is executing.

.
  Data type BOOL
Active Description

If True, then the function block is controlling motion.

  Data type BOOL
CommandAborted Description

If True, command was aborted by another function block.

  Data type BOOL
Error Description If True, an error has occurred.
  Data type BOOL
ErrorID Description Indicates the error if Error output is set to TRUE. See table in PLCopen Function Block ErrorID Output.
  Data type INT

Example

Structure Text

Inst_MC_MoveDirRel( ExecuteMove, Group1_Ref, DistanceList, MC_COORDINATE_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING );

IL

            BEGIN_ILClosed"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

Function Block Diagram

Ladder Diagram

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