Mitsubishi Electric MELSEC iQ-R Series User Manual page 204

Motion module
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MCv_MoveLinearInterpolateRelative
Item
Function overview
Symbol
[Structured Ladder]
Applicable hardware and
software (Language)
Number of input area points
(byte)
216
■I/O variable
Input import : At start
Name
Variable
name
Axes
AxesGroup
groupinformatio
n
■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name
Variable
name
Start
Execute
Continuous
ContinuousUpd
update
ate
Linear
LinearAxes
interpolation
axis
Movement
Distance
amount
Velocity
Velocity
Acceleration
Acceleration
Deceleration
Deceleration
Jerk
Jerk
6 AXIS CONTROL FUNCTION
202
6.4 Multiple Axes Positioning Control
Description
Specifies the movement amount of the relative position of specified axes group, and executes positioning by linear
interpolation control.
MCv_MoveLinearInterpolateRelative
DUT : AxesGroup
B : Execute
B : ContinuousUpdate
W[ ] : LinearAxes
L[ ] : Distance
L : Velocity
L : Acceleration
L : Deceleration
L : Jerk
ENUM : VelocityMode
ENUM : BufferMode
UD : Options
RD78G(H) (Structured Text)
Number of output area points
(byte)
8
Data type
Input
import
AXES_GROUP
_REF
Data type
Import
BOOL
BOOL
INT[1..16]
LREAL[1..16]
/R/C
LREAL
/R/C
LREAL
/R/C
LREAL
LREAL
AxesGroup : DUT
CommandAborted : B
ErrorID : UW
Compiling method
Subroutine type
Setting range
Default
value
Omission
not possible
Setting range
Default
value
FALSE
FALSE
1 to 16
0
Page 67
0.0
Positioning Range
Page 71 Velocity
0.0
set range
Page 295
0.0
Relevant variables
Page 295
0.0
Relevant variables
Page 295
0.0
Relevant variables
Done : B
Busy : B
Active : B
Error : B
FB operation type
Real-time execution
Description
Page 574 Axes group variables
Description
When TRUE, it executes the FB.
During TRUE, it reflects intput of the import "C".
Specifies axes to be used in linear interpolation
control from the configuration axes.
Specifies the index No. (1 to 16) of the
configuration axes in array.
When VelocityMode is 2: ReferenceAxisSpeed,
the first element of the array is regarded as the
reference axis.
Sets the relative position according to unit of axis
from the current position at start to the end point.
It is N-dimensional array data. It is treated as the
relative position of the configuration axis 1, 2, ...,
N.
Sets the speed command value according to unit
of axis.
Sets the acceleration according to unit of axis.
Sets the deceleration according to unit of axis.
Sets the jerk according to unit of axis.

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