Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 128)

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
6.2.17 SMC_MoveContinuousRelative
This POU moves the axis by a relative distance according to the specified values for speed,
acceleration, and deceleration. The distance can be positive or negative. In contrast to
MC_MoveRelative, the user can additionally define a final speed that the axis has after the
distance specified has been traversed, which the POU displays by the output InEndVelocity.
If the POU is not interrupted by another POU, it keeps on moving the axis continuously
(axis status = move_continuous) with the final speed defined.
By corresponding specifications (path required to bring the axis to the final speed
< distance) it can happen that the axis at first carries out a movement in the opposite
direction.
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.