MOVE POS TIME REL (0xB9)

Code: 0xB9
Description: The module is moved relatively from start position. The displacement value is set in the configured unit system During the movement, new displacement value can be preset, which are then immediately moved to. When calculating the path, the nominal velocity and acceleration values as well as the actual velocity and acceleration values are taken into account. If the time parameter value is entered, the velocity and acceleration values are adjusted in such a way that the position is reached within the specified time, without exceeding the preset velocity and acceleration limits.
Parameter (master -> slave):

• Displacement in configured unit system (must be specified). The target position must differ from the start position by at least Delta Position.
• Velocity (optional) that must not be exceeded.
• Acceleration (optional) that must not be exceeded.
• Current (optional) that must not be exceeded during the positioning movement. If the controller structure corresponds to ,,CURRENT SPEED'', this value cannot not be transmitted (,,INFO WRONG PARAMETER'').
• Time (optional) after which the positioning movement must be completed without exceeding the set velocity and acceleration limits.

Response (slave -> master): If possible, the time required for the module to complete the movement is returned. Module executes command.
Example:

	D-Len	Cmd	Param
M->S	0x05	0xB9	0x00 0x00 0x20 0x41	Move a distance of 10.0 [mm]
S->M	0x05	0xB9	0x00 0x00 0xA0 0x40	Target position will be reached in 5.0 [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. For these types of movement, the motion profile is set to ,,Trapezoid'' (Due to computing time problems, curved paths can only be completed with this profile.)

New position parameters can be entered while a movement is being completed. The new movement is subsequently calculated, based on the entered parameter values and the current actual velocity and acceleration values. This allows for curved paths.