Mc_Moverelative - Delta AX Series Instruction Manual

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l

2.1.5 MC_MoveRelative

Supported Devices: AX-308E, AX-8, AX-364E

MC_MoveRelative controls the axis to move a specified relative distance with a specified behavior.
FB/FC Instruction
FB MC_MoveRelative
Inputs

Name
The instruction is run when
Execute Execute changes from
False to True.
Relative distance to be
moved.
Distance
(Unit: user unit)
Target velocity.
Velocity
(Unit: user unit/s)
Acceleration rate.
Acceleration
(Unit: user unit/s
Deceleration rate.
Deceleration
(Unit: user unit/s
Jerk value.
Jerk
(Unit: user unit/s
Outputs

Name
Done
Graphic Expression
Function Data Type
BOOL
LREAL
LREAL
LREAL
2 )
LREAL
2 )
LREAL
3 )
Function
True when relative distance is
completed.
Setting Value
(Default Value)
True/False
-
(False)
Negative, positive or When Execute turns to True and Busy is
0(0) False.
When Execute turns to True and Busy is
Positive or 0(0)
False.
When Execute turns to True and Busy is
Positive(0)
False.
When Execute turns to True and Busy is
Positive(0)
False.
When Execute turns to True and Busy is
Positive(0)
False.
Data Type
BOOL
ST Language
MC_MoveRelative_instance(
Axis : =,
Execute : =,
Distance : =,
Velocity : =,
Acceleration : =,
Deceleration : =,
Jerk : =,
Done =>,
Busy =>,
CommandAborted =>,
Error =>,
ErrorID => );
Timing to Take Effect
Output Range (Default Value)
True/False (False)
Ch a p t er 2
2 6