4. Motion Control Instructions 4.4.2. MC_MoveRelative Explanation of the Instruction: MC_MoveRelative is applied to control the terminal actuator to move for a given distance with the current position as the reference point at a given speed, acceleration, deceleration. Once this instruction is aborted in process of motion, the uncompleted distance left will be ignored and the new instruction will be executed subsequently. Explanation of input and output parameter of the instruction: Notes: 1. When MC_MoveRelative instruction is being executed, “Execute”: rising edge occurs, which does not impact the execution of the instruction.
DVP-MC operating manual 4-15 API MC MoveRelative _ Move relatively Controller 02 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, Constant Distance The target distance for terminal actuator to move with the current position as the reference point. If the setting is negative, servo will rotate reversely. Unit: Unit. REAL Constant, D Velocity Running speed of terminal actuator and this parameter is always positive.(Unit: unit/second) REAL Constant, D Acceleration Acceleration of terminal actuator and this parameter is always positive.(Unit:
unit/second2) REAL Constant, D Deceleration Deceleration of terminal actuator and this parameter is always positive.(Unit: unit/second2) REAL Constant, D Done When relative position execution is completed, "Done" turns on; when “Execute” is off, "Done" is reset. BOOL M,Q Abort When this instruction execution is aborted, "Abort" turns on; when “Execute” is off, "Abort" is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when “Execute” is off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to table 5.3. UINT D