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◆ MoveRelative() [1/2]

void MoveRelative ( const double *const relativePosition)

Command a relative point-to-point S-Curve motion using Axis default values from DefaultVelocitySet, DefaultAccelerationSet, DefaultDecelerationSet, and DefaultJerkPercentSet
.

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.

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

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.