Technical data

Technology functions
CPU 317T: Technology Functions
6-52 A5E00251798-03
6.2.7 FB 411 MC_MoveRelative - Relative positioning
Valid for firmware version V3.1.x of the integrated technology
Purpose
• The "MC_MoveRelative" technology starts an axis motion at a position relative
position to the start position.
If the axis was already in motion at the start of command execution and a
"motion override" was set with Mode = 0, the system uses its internal start
position which is valid the start of command execution. Allowances must be
made for the reaction time between the execution of a technology function and
of a command, based on the load and cycle time.
• Use the input parameters Velocity, Jerk, Acceleration, Deceleration to define
the dynamic response during axis movement.
• At input parameter Mode you can specify whether to trigger an active motion,
to overlay the current motion, or to append the motion.
Applicable to
• Positioning axes
• Synchronization axes
Requirements
• The axis is enabled for position control
• No MC_Stop command busy
• Valid for saving and overlaying motions (mode = 1, 2):
- An"MC_CamIn" or "MC_GearIn" has not been started
- No synchronized operation.