Mc_Offsetposition; Variables - Omron Sysmac NY-series Instruction & Reference Manual

3 Axis Command Instructions

MC_OffsetPosition

The MC_OffsetPosition instruction adds the specified position offset to the command current position
of the slave axis in synchronized control with an acceleration/deceleration curve applied, and outputs
the result.
Instruction Name
MC_OffsetPosi- Position Off-
tion set Compen-
sation
Version Information
If you use an NY-series Controller, the Controller with unit version 1.21 or later and Sysmac Stu-
dio version 1.29 or higher are required to use this instruction.

Variables

Input Variables
Name Meaning
Execute Execute
OffsetPosition Position Off-
set
Velocity Target veloci-
ty
Acceleration Acceleration
Rate
3-458
FB/
Graphic expression
FUN
FB
MC_OffsetPosition_instance
MC_OffsetPosition
Axis
Execute
OffsetPosition OutputtedOffsetPosition
Velocity
Acceleration
Deceleration
Jerk
BufferMode
MoveMode
Data type Valid range
BOOL TRUE or FALSE
LREAL Negative number,
positive number, or
0
LREAL Positive number
LREAL Non-negative num-
ber
NY-series Motion Control Instructions Reference Manual (W561)
MC_OffsetPosition_instance(
Axis :=parameter ,
Execute :=parameter,
Axis
Done
OffsetPosition :=parameter,
Velocity :=parameter,
Busy
Acceleration :=parameter,
Active
Deceleration :=parameter,
CommandAborted
Jerk :=parameter,
Error
BufferMode :=parameter,
ErrorID
MoveMode :=parameter,
Done =>parameter,
OutputtedOffsetPosition
=>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Default
FALSE The instruction is executed when the
value of this variable changes to
TRUE.
0 Specifies the position offset to add to
the command current position.
The unit is command units.
0
Specifies the target velocity.
The unit is command units/s.
0 Specifies the acceleration rate.
The unit is command units/s
ST expression
Description
*1
*2
*1
2 *1
.