MOVE POS REL (0xB8)

• Displacement in configured unit system (must be specified).
• Velocity (optional) used for the positioning movement. For motion profiles, ,,No Ramp'' is not relevant.
• Acceleration (optional) used for the positioning movement. For motion profiles, ,,No Ramp'' is not relevant.
• Current (optional) that must not be exceeded during the positioning movement. If controller structure ,,CURRENT SPEED'' is enabled, this value must be transmitted (as jerk is necessary). The value must be set to "0", as signal ,,INFO WRONG PARAMETER'' occurs otherwise.
• Jerk (optional) used for the positioning movement. If a motion profile other than ,,JERK'' is to be used, this value cannot be transmitted (,,INFO WRONG PARAMETER'').
  

Response (slave -> master): If possible, the time required for the module to complete the movement is returned. If the time cannot be calculated (e.g. with motion profile ,,No Ramp''), the successful request is acknowledged with "OK" (0x4F4B). Module executes command.
Example:

	D-Len	Cmd	Param
M->S	0x05	0xB8	0x00 0x00 0x20 0x41	Move a distance of 10.0 [mm]
S->M	0x05	0xB8	0xCD 0xCC 0x04 0x41	Target position will be reached in 8.3 [sec.]

Note: Impulse response is generated when position ,,CMD POS REACHED'' is reached or if positioning movement ,,MOVE ZERO AFTER REFERENCING'' is aborted before this position is reached. All parameters must be transmitted in the sequence shown here. If only the current is preset, the velocity and the acceleration must be specified. Subsequent parameters do not need to be transmitted. All parameters remain stored until they are modified or the system is restarted.

If new positioning parameters are entered during a movement, the motion might be temporarily halted. If you wish to enter new positions while movements are carried out, e.g. to move along curves, use the ,,MOVE POS TIME REL'' command