YASKAWA VIPA SPEED7 Operation Manual page 558

Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
Move axis relative
Status diagram of the
block parameters
558
The movement of the axis is started with an edge 0-1 at Execute. Busy is TRUE as soon
as the movement of the axis is running. After the target position was reached, Busy with
FALSE and Done with TRUE is returned. Then the velocity of the axis is 0.
– An active job continues to move to target position even when Execute
is set to FALSE.
– A running job can be aborted by a move job (e.g. MC_MoveAbso-
lute).
(1) With MC_MoveRelative the axis is moved relative by a Distance = 1000.0 (start posi-
tion at job start is 0.0). Moving the axis is started with edge 0-1 at Execute and Busy
becomes TRUE.
(2) At time (2) the axis was moved by the Distance = 1000.0, i.e. the target position was
reached. Busy has the value FALSE and Done den value TRUE.
(3) At the time (3) the job is completed and Execute becomes FALSE and thus each
output parameter FALSE respectively 0.
HB00 | OPL_SP7 | Operation list | en | 18-30
VIPA SPEED7