MoveRelative()

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

Description:

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

S-Curve Velocity Profile

Parameters

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

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.

Sample Code: