LSIS XGT Series - Time-Linear Interpolation Operation for Relative Position of Coordinate System; (Ls_Movelineartimerelative)

Chapter 6 Motion Function Blocks
6-162
6.7.5 Time-linear interpolation operation for relative position of coordinate system
(LS_MoveLinearTimeRelative)
Motion Function Block
LS_MoveLinearTimeRelative
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
UINT CoordSystem
ARRAY[0..5] OF LREAL[ ] Position
Busy BOOL
Active BOOL
Error BOOL
ErrorID WORD
UINT TrajType
LREAL TrajTime
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
CommandAborted BOOL
Input-Output
UINT AxesGroup
Set the axes group to set the relative position time linear interpolation.(1 ~ 16 :
Group 1 ~ Group 16)
Input
BOOL
Execute
Give the time linear interpolation command on the axes group in the rising Edge.
UINT
CoordSystem
Set the coordinate system type (1:MCS 2:PCS)
LREAL[]
Position
Enter the target position of the end point of the machine.
UINT
TrajType
Enter the operation acc/dec type.(0:Trapezoid 1:Sine1 2:Sine2)
LREAL
TrajTime
Set the time taken to reach the target position.(msec)
UINT BufferMode
Give the sequential operation of the motion function block.
(Refer to the 6.1.4 BufferMode input)
UINT TransitionMode
Specify the route change mode of group operation.
(Refer to 6.1.6.TransitionMode )
LREAL TransitionParameter
Specify the parameter of the route change setting of group operation.
(Refer to 6.1.6.TransitionMode )
Output
BOOL
Done
Indicate the PCS setting is successfully completed.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that machine information setting of the current axis is running.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.