Mc_Movelinearrelative; Variables - Omron NY532-1500 Reference Manual

MC_MoveLinearRelative

The MC_MoveLinearRelative instruction performs linear interpolation for a specified relative position.
Instruction
MC_MoveLinearRelative

Variables

Input Variables
Name Meaning
Execute Execute
Distance Travel
Distance
*2 Target
Velocity
Velocity
Acceleration Accelera-
tion Rate
Deceleration Decelera-
tion Rate
Jerk Jerk
NY-series Motion Control Instructions Reference Manual (W561)
FB/
Name
FUN
Relative FB
Linear
Interpolation
AxesGroup
Execute
Distance
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
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
Graphic expression
MC_MoveLinearRelative_instance
MC_MoveLinearRelative
AxesGroup
Active
CommandAborted
ErrorID
Valid range
4 Axes Group Instructions
ST expression
MC_MoveLinearRelative_
instance (
AxesGroup :=parameter,
Execute :=parameter,
Done
Distance :=parameter,
Busy
Velocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Error
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode
:=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted
=>parameter,
Error =>parameter,
ErrorID =>parameter
);
Default Description
FALSE The instruction is exe-
cuted when Execute
changes to TRUE.
0 Specify the target
position for linear
interpolation. The unit
is command units.
0 Specify the target
velocity. The unit is
command units/s.
0 Specify the accelera-
tion rate. The unit is
command units/s
0 Specify the decelera-
tion rate. The unit is
command units/s
0 Specify the jerk. The
unit is command
3 *1
units/s .
4
*1
*1
2 *1
.
2 *1
.
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