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MC_MoveContinuousRelative, MCP_MoveContinuousRelative – Move to position (relative to previous motion)

Block SymbolsLicensing group: MOTION CONTROL
Qt SVG Document Exported by REXYGEN Studio uAxis Execute Distance Velocity Acceleration Deceleration Jerk BufferMode EndVelocity yAxis InEndVelocity CommandAborted Busy Active Error ErrorID MC_MoveContinuousRelative Qt SVG Document Exported by REXYGEN Studio uAxis Execute yAxis InEndVelocity CommandAborted Busy Active Error ErrorID MCP_MoveContinuousRelative

Function Description
The MC_MoveContinuousRelative and MCP_MoveContinuousRelative blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_MoveContinuousRelative block moves an axis to specified position as fast as possible. The final position is determined by adding the value of Distance parameter to the actual position at the moment of triggering the Execute input. If no further action is pending, final velocity is specified by parameter EndVelocity. For blending purposes, start and stop velocity of this block is maximum velocity with direction respecting current and final position. If start velocity of next pending block is in opposite direction, then blending velocity is always zero.

If next pending block is executed too late in order to reach requested velocity the generated output depends on jerk setting. If no limit for jerk is used (block input Jerk is zero or unconnected) block uses maximum acceleration or deceleration to reach the desired velocity as near as possible. If jerk is limited it is not possible to say what is the nearest velocity because also acceleration is important. For this reason, the axis is stopped and moved backward and blending velocity is always reached. Although this seems to be correct solution, it might look confusing in a real situation. Therefore, it is recommended to reorganize execution order of the motion blocks and avoid this situation.

Note 1: If the EndVelocity is set to zero value, the block behaves in the same way as MC_MoveRelative.

Note 2: If next motion command is executed before the final position is reached, the block behaves in the same way as MC_MoveRelative.

If next pending block is executed too late in order to reach requested velocity the generated output depends on jerk setting. If no limit for jerk is used (block input Jerk is zero or unconnected) block uses maximum acceleration or deceleration to reach the desired velocity as near as possible. If jerk is limited it is not possible to say what is the nearest velocity because also acceleration is important. For this reason, the axis is stopped and moved backward and blending velocity is always reached. Although this seems to be correct solution, it might look confusing in a real situation. Therefore, it is recommended to reorganize execution order of the motion blocks and avoid this situation.

If next pending block is executed too late in order to reach requested velocity the generated output depends on jerk setting. If no limit for jerk is used (block input Jerk is zero or unconnected) block uses maximum acceleration or deceleration to reach the desired velocity as near as possible. If jerk is limited it is not possible to say what is the nearest velocity because also acceleration is important. For this reason, the axis is stopped and moved backward and blending velocity is always reached. Although this seems to be correct solution, it might look confusing in a real situation. Therefore, it is recommended to reorganize execution order of the motion blocks and avoid this situation.

If next pending block is executed too late in order to reach requested velocity the generated output depends on jerk setting. If no limit for jerk is used (block input Jerk is zero or unconnected) block uses maximum acceleration or deceleration to reach the desired velocity as near as possible. If jerk is limited it is not possible to say what is the nearest velocity because also acceleration is important. For this reason, the axis is stopped and moved backward and blending velocity is always reached. Although this seems to be correct solution, it might look confusing in a real situation. Therefore, it is recommended to reorganize execution order of the motion blocks and avoid this situation.

Inputs

uAxis

Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)

Reference

Execute

The block is activated on rising edge

Bool

Distance

Requested target distance (relative to execution point) [unit]

Double (F64)

Velocity

Maximal allowed velocity [unit/s]

Double (F64)

Acceleration

Maximal allowed acceleration [unit/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting (start immediately)

2 ....

Buffered (start after finish of previous motion)

3 ....

Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

4 ....

Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

5 ....

Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity)

6 ....

Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

EndVelocity

End velocity

Long (I32)

Outputs

yAxis

Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)

Reference

InEndVelocity

PLCopen Done (algorithm finished)

Bool

CommandAborted

PLCopen CommandAborted (algorithm was aborted)

Bool

Busy

PLCopen Busy (algorithm not finished yet)

Bool

Active

PLCopen Active (the block is controlling the axis)

Bool

Error

PLCopen Error (error occurred)

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

Example
image/svg+xmlvelocity2 20 velocity1 30 position2 150 position1 100 mode2 2 mode1 2 end_velocity 10 deceleration2 10 deceleration1 20 acceleration2 25 acceleration1 50 MC_MoveRelative − block 1 uAxisExecuteDistanceVelocityAccelerationDecelerationJerkBufferModeyAxisDoneCommandAbortedBusyActiveErrorErrorID MC_MoveContinuousRelative − block 2 uAxisExecuteDistanceVelocityAccelerationDecelerationJerkBufferModeEndVelocityyAxisInEndVelocityCommandAbortedBusyActiveErrorErrorID Execute2 [execute2] Execute1 [execute1] Axis [axis]

image/svg+xml0 5 10 15 0 0.5 1 Execute − block 1 bool 0 5 10 15 0 0.5 1 Active − block 1 bool 0 5 10 15 0 0.5 1 Done − block 1 bool 0 5 10 15 0 0.5 1 Execute − block 2 bool 0 5 10 15 0 0.5 1 Active − block 2 bool 0 5 10 15 0 0.5 1 Done − block 2 bool 0 5 10 15 0 50 Commanded velocity velocity velocity2velocity1 0 5 10 15 0 100 200 300 Commanded positionTime [s] position

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