MoveRelative() [1/3]

void MoveRelative	(	double	relativePosition,
		double	vel,
		double	accel,
		double	decel,
		double	jerkPct )

Description:

MoveRelative command a relative point-to-point motion, with an S-Curve velocity profile. Axis will move relative increment distance from the currently commanded position.

S-Curve Velocity Profile

Parameters

relativePosition	A relative increment, positive or negative.
vel	Maximum velocity, units/second.
accel	Maximum accleration , units/second/second.
decel	Maximum deceleration , units/second/second.
jerkPct	Jerk Percent, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0 .

Note

In most cases, a servo motor has a feedback device mounted. Depending on feedback device resolution, one motor shaft rotation will produce fixed value of counts. Example: motor has a resolution of 8192 counts. This means if 8192 is entered as distance to move, motor will move single revolution. User can implement UserUnitsSet() to change to a different unit (ex: mm, inches, etc) from encoder counts.

Remarks

This function is also available in RapidSequencer.

Note

Non-Blocking Execution Motion commands return instantly and do not pause code execution. Use MotionDoneWait() post-call to halt execution until motion completes.

Part of the Motion method group.

Sample Code:

RelativeMotion

      axis.MoveRelative(Constants.POSITION, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);  // Command a relative to the current position
      axis.MotionDoneWait(); // Wait for motion to finish. (the motion should take 2.5 seconds)
 
      var cmdPositionAfterMove = axis.CommandPositionGet(); // The command position should be equal to Constants.POSITION
 
      // Move back to the start position by moving negative relative to current position
      axis.MoveRelative(-1 * Constants.POSITION, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
      axis.MotionDoneWait();

RapidSetup:

Go to axis screen->Motion Profile box (left) to select type of motion
Go to axis screen->Motion Parameters box (right) to select values for motion

Motion Scope:

Relative move profile shown below:

See also

Different Motion Types, MoveSCurve, MoveTrapezoidal, MoveVelocity, MovePT, MovePVT

Examples

MathBlock.cs, Motion.cs, MotionHold.cs, and MotionHoldReleasedBySoftwareAddress.cpp.