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

MC_MoveLinear

The MC_MoveLinear instruction performs linear interpolation.
Instruction Name
MC_MoveLinear Linear Inter-
polation

Variables

Input Variables
Name Meaning
Execute Execute
Position Target Posi-
tion
Target Ve-
*2
Velocity
locity
Acceleration Acceleration
Rate
Deceleration Deceleration
Rate
NY-series Motion Control Instructions Reference Manual (W561)
FB/
Graphic expression
FUN
FB
MC_MoveLinear_instance
MC_MoveLinear
AxesGroup
Execute
Position
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
MoveMode
Data type Valid range
BOOL TRUE or FALSE
ARRAY[0..3] Negative number, positive
OF LREAL number, or 0
LREAL Positive number
LREAL Non-negative number
LREAL Non-negative number
4 Axes Group Instructions
MC_MoveLinear_instance (
AxesGroup :=parameter,
Execute :=parameter,
AxesGroup
Done Position :=parameter,
Busy
Velocity :=parameter,
Active
Acceleration :=parameter,
CommandAborted
Deceleration :=parameter,
Error
Jerk :=parameter,
ErrorID
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
MoveMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
De-
fault
FALS The instruction is executed
E when the value of this variable
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 acceleration rate.
The unit is command units/s
*1
0 Specify the deceleration rate.
The unit is command units/s
*1
ST expression
Description
*1
*1
2
.
2
.
4-11
4