Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 126)

L-force | PLC Designer - SoftMotion
The SM_PLCopen.lib library
POUs for the motion control of individual axes
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DMS 5.2 EN 03/2011 TD17
6.2.16 MC_MoveRelative
This program organisation unit from SM_PLCopen.lib moves the axis by a relative distance
in accordance with the defined velocity, acceleration and deceleration values. The distance
may be positive or negative.
Input/output (VAR_IN_OUT)
Axis : AXIS_REF
The structure that is filled with axis data in the Drive Interface (SM_DriveBasic.lib) is shown
here.
Inputs (VAR_IN)
Execute : BOOL (default: FALSE)
The program organisation unit is activated on a rising edge.
Distance : REAL
Relative distance for the motion (technical unit [u])
Velocity : REAL
Value of the setpoint velocity that does not necessarily have to be reached [u/s]
Acceleration : REAL
Desired acceleration [u/s²]
Deceleration : REAL
Desired deceleration [u/s²]
Outputs (VAR_OUT)
Done : BOOL (default: FALSE)
TRUE indicates that the desired distance has been reached.
CommandAborted : BOOL (default: FALSE)
The motion that had started was interrupted by another function block acting on the same
axis (exception: MoveSuperImposed).
Error : BOOL (default: FALSE)
TRUE indicates an error in the function block.
ErrorID : SMC_Error (INT )
Error number