Mc_Movelinear; Variables - Omron NY532-1500 Reference Manual

4 Axes Group Instructions

MC_MoveLinear

The MC_MoveLinear instruction performs linear interpolation.
Instruction
MC_MoveLinear Linear Interpolation

Variables

Input Variables
Name Meaning
Execute Execute
Position Target
Position
*2 Target
Velocity
Velocity
Acceleration Accelera-
tion Rate
Deceleration Decelera-
tion Rate
Jerk Jerk
CoordSystem Coordinate
System
4-10
FB/
Name
FUN
FB
AxesGroup
Execute
Position
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
MoveMode
Data type
BOOL TRUE or FALSE
ARRAY [0..3] Negative number, positive num-
OF LREAL ber, or 0
LREAL Positive number
LREAL Non-negative number
LREAL Non-negative number
LREAL Non-negative number
_eMC_ 0: _mcACS
COORD_
SYSTEM
Graphic expression
MC_MoveLinear_instance
MC_MoveLinear
AxesGroup
Done
Busy
Active
CommandAborted
Error
ErrorID
Valid range Default
FALSE
0
0
0
0
0
*3
0
NY-series Motion Control Instructions Reference Manual (W561)
ST expression
MC_MoveLinear_instance (
AxesGroup :=parameter,
Execute :=parameter,
Position :=parameter,
Velocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode
:=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
for linear interpolation. The
*1
unit is command units.
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
command units/s .
Specify the coordinate sys-
tem.
0: Axis coordinate system
(ACS)