Mc_Move; Variables - Omron NY532-1500 Reference Manual

3 Axis Command Instructions

MC_Move

The MC_Move instruction performs absolute positioning or relative positioning.
Instruction Name
MC_Move Positioning

Variables

Input Variables
Name Meaning
Execute Execute
Position Target Posi-
tion
Velocity Target Veloc-
ity
Acceleration Acceleration
Rate
Deceleration Decelera-
tion Rate
Jerk Jerk
3-44
FB/FUN Graphic expression
FB
MC_Move_instance
Axis
Execute
Position
Velocity
Acceleration
Deceleration
Jerk
Direction
BufferMode
MoveMode
Data type
BOOL TRUE or FALSE
LREAL Negative number, posi-
tive number, or 0
LREAL Positive number
LREAL Non-negative number
LREAL Non-negative number
LREAL Non-negative number
MC_Move
Axis
Done
Busy
Active
Command Aborted
Error
ErrorID
Valid range Default
FALSE
0
0
0
0
0
NY-series Motion Control Instructions Reference Manual (W561)
ST expression
MC_Move_instance (
Axis :=parameter,
Execute :=parameter,
Position :=parameter,
Velocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
Direction :=parameter,
BufferMode :=parameter,
MoveMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted
=>parameter,
Error =>parameter,
ErrorID =>parameter
);
Description
The instruction is executed
when Execute changes to
TRUE.
Specify the target position in
absolute coordinates when
you specify absolute posi-
tioning as the Travel Mode.
Specify the relative position
when you specify relative
positioning as the Travel
Mode. The unit is command
*1
units.
*2
Specify the target velocity.
The unit is command
*1
units/s.
Specify the acceleration rate.
The unit is command
2 *1
units/s .
Specify the deceleration rate.
The unit is command
2 *1
units/s .
Specify the jerk. The unit is
3 *1
command units/s .