function [res] = MoveRelative(PosArg, VelArg, AccelArg, DecelArg)
%Issue Command to Enable Axis 0
rmc = ConnectToRMC;  %Establish IP Connection if it doesn't exist.

Pos = PosArg;
Vel = VelArg;
Accel = AccelArg;
Decel = DecelArg;
RelativeTo = 1;

File = 16;  %Specify "Small Command Area"
Element = 0;  %0 = Axis 0 command
Cmd = 21;  %Enable/Disable Enable Output
data = [Cmd Pos  Vel  Accel Decel RelativeTo];
rmc.WriteFFile(File,Element,length(data),data);               %Send cmd to small command area
end
