MoveRelative() [2/2]

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, UserUnits/second.
accel	array of Maximum acceleration , UserUnits/second/second. (peak up to 2× accel when jerkPercent = 100, see below)
decel	array of Maximum deceleration , UserUnits/second/second. (peak up to 2× decel when jerkPercent = 100, see below)
jerkPct	array of Jerk Percent, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0 .

Note

Non-Blocking Execution Motion commands return instantly and do not pause code execution. Use MotionDoneWait() post-call to block execution until motion completes, or MotionDoneGet() to poll for completion.

Warning

Using a non-zero JerkPercent increases the maximum acceleration above the user-specified average.
If your system can’t handle the higher peak, you risk overshoot or excessive load. The relation between average acceleration and maximum acceleration is:

\[ Maximum Acceleration \;=\; \frac{accel}{1 - \bigl(jerkPercent \times 0.005\bigr)} \]

• accel: the requested (average) acceleration value given in the MoveSCurve command.
• jerkPercent: the percent of time with non-zero jerk (0–100) given in the MoveSCurve command.
• Maximum Acceleration: the resulting peak commanded acceleration.

See the S-Curve Motion concept page for more information.

Warning

Using a non-zero JerkPercent increases the maximum deceleration above the user-specified average.
If your system can’t handle the higher peak, you risk overshoot or excessive load. The relation between average deceleration and maximum deceleration is:

\[ Maximum Deceleration \;=\; \frac{decel}{1 - \bigl(jerkPercent \times 0.005\bigr)} \]

• decel: the requested (average) deceleration value given in the MoveSCurve command.
• jerkPercent: the percent of time with non-zero jerk (0–100) given in the MoveSCurve command.
• Maximum Deceleration: the resulting peak commanded deceleration.

See the S-Curve Motion concept page for more information.

Sample Code: