# Relative positioning

When positioning relatively, the drive system moves a specified distance from the current position at the specified velocity. The drive system can exit the parameterised traversing range.

1. Prerequisite
2. Configure the stepper motor modul.
3. Enable the motor driver. in_enabled is TRUE.

1. Set out_operation_mode to 3 (relative positioning).
2. Set out_target_pos to the target distance.
3. Set out_target_velocity to the target velocity.
4. Set out_target_accel to the target acceleration.
5. Set out_accel_mode to the desired acceleration type.
6. To initiate positioning, set out_start to TRUE.

1. The drive system travels the target distance.
2. After a successful run, in_state_target_pos changes to TRUE.

Configuring the stepper motor module

Channels of the stepper motor module