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

MC_MoveLinearRelative

The MC_MoveLinearRelative instruction performs linear interpolation for a specified relative position.
Instruction Name
MC_MoveLinear- Relative Line-
Relative ar Interpola-
tion

Variables

Input Variables
Name Meaning
Execute Execute
Distance Travel Dis-
tance
Target Ve-
*2
Velocity
locity
Acceleration Acceleration
Rate
NY-series Motion Control Instructions Reference Manual (W561)
FB/
Graphic expression
FUN
FB
MC_MoveLinearRelative_instance
MC_MoveLinearRelative
AxesGroup
Execute
Distance
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
Data type Valid range
BOOL TRUE or FALSE
ARRAY [0..3] Negative number, positive num-
OF LREAL
LREAL Positive number
LREAL Non-negative number
4 Axes Group Instructions
MC_MoveLinearRelative_instance
(
AxesGroup :=parameter,
AxesGroup
Done Execute :=parameter,
Busy
Distance :=parameter,
Active
Velocity :=parameter,
CommandAborted
Acceleration :=parameter,
Error
Deceleration :=parameter,
ErrorID
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
De-
fault
FALSE
0
ber, or 0
0
0
ST expression
Description
The instruction is executed
when the value of this varia-
ble changes to TRUE.
Specify the target position
for linear interpolation.
The unit is command units.
*1
Specify the target velocity.
The unit is command units/s.
*1
Specify the acceleration
rate.
The unit is command
2 *1
units/s .
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