Mc_Moverelative Class - Mitsubishi MR-EM340GF User Manual

MC_MoveRelative class

Moves the specified distance from the current position.
class MC_MoveRelative : public MC_FunctionBlock
Member
■Input
Name Variable name
Axis information Axis
Execute command Execute
Positioning data No. PositionDataNo
Movement amount Distance
Speed Velocity
Acceleration time Acceleration
Deceleration time Deceleration
*1 Refer to function block units. (Page 149 Function block units)
■Output
Name Variable name
Execution complete Done
Executing Busy
Execution cancel CommandAborted
Error Error
Error code ErrorID
5 API LIBRARY DETAILS (FUNCTION BLOCK)
162
5.1 MC_FunctionBlock Class
Data type Fetch Valid range Description
AXIS_REF*
 
bool Startup only ON/OFF
short 1 to 100
*1
double
double
long 1 to 8338608
[ms]
long
Data type Initial value
bool OFF
bool OFF
bool OFF
bool OFF
unsigned short 0
Specifies the pointer to the axis information class object.
Executes the function block when ON.
<Motion mode>
Specifies the positioning data No. that stores the positioning
data.
<I/O mode>
Specifies the point table No. that stores the positioning data.
Sets the movement amount.
Sets the speed command value at the time of positioning.
<Motion mode>
Sets the time to reach the speed limit value from speed 0.
<I/O mode>
Sets the time to reach the rated rotation speed of the servo
motor.
<Motion mode>
Sets the time to speed 0 from the speed limit value.
<I/O mode>
Sets the time to stop from the rated rotation speed of the servo
motor.
Description
Indicates the target position has been reached.
Indicates the function block is in operation.
Indicates the execution is cancelled by another function block.
When ON, this indicates an error occurrence in the function
block.
Returns the error code of the error that occurred in the function
block.