MoveRelative() [2/3]

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

pure virtual

Command a relative point-to-point S-Curve motion.

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.

Sample Code:

// move 1234 units from the current position
axis->MoveRelative(5000.0, 10000.0, 100000.0, 100000.0, 50.0);

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