MC_MoveRelative: Relative positioning of axis as of V6 (S7-1200) - Motion Control

S7-1200 Motion Control (S7-1200)
ft:publication_title
S7-1200 Motion Control (S7-1200)
Product
Motion Control
Version
V20
Publication date
11/2024
Language
en-US
MC_MoveRelative: Relative positioning of axis as of V6

Description

The "MC_MoveRelative" Motion Control instruction starts a positioning motion relative to the start position.

Requirements

  • The positioning axis technology object has been configured correctly.

  • The axis is enabled.

Override response

The MC_MoveRelative command can be aborted by the following Motion Control commands:

  • MC_Home command Mode = 3

  • MC_Halt command

  • MC_MoveAbsolute command

  • MC_MoveRelative command

  • MC_MoveVelocity command

  • MC_MoveJog command

  • MC_CommandTable command

The new MC_MoveRelative command aborts the following active Motion Control commands:

  • MC_Home command Mode = 3

  • MC_Halt command

  • MC_MoveAbsolute command

  • MC_MoveRelative command

  • MC_MoveVelocity command

  • MC_MoveJog command

  • MC_CommandTable command

Parameters

Parameter

Declaration

Data type

Default value

Description

Axis

INPUT

TO_PositioningAxis

-

Axis technology object

Execute

INPUT

BOOL

FALSE

Start of the command with a positive edge

Distance

INPUT

REAL

0.0

Travel distance for the positioning operation

Limit values:

-1.0E12 ≤ Distance ≤ 1.0E12

Velocity

INPUT

REAL

10.0

Velocity of axis

This velocity is not always reached on account of the configured acceleration and deceleration and the distance to be traveled.

Limit values:

Start/stop velocity ≤ Velocity ≤ maximum velocity

Done

OUTPUT

BOOL

FALSE

TRUE

Target position reached

Busy

OUTPUT

BOOL

FALSE

TRUE

The command is being executed

CommandAborted

OUTPUT

BOOL

FALSE

TRUE

During execution, the command was aborted by another command.

Error

OUTPUT

BOOL

FALSE

TRUE

An error occurred during execution of the command. The cause of the error can be found in parameters "ErrorID" and "ErrorInfo".

ErrorID

OUTPUT

WORD

16#0000

Error ID for parameter "Error"

ErrorInfo

OUTPUT

WORD

16#0000

Error info ID for parameter "ErrorID"