LSIS XGT Series - Page 404

Chapter 8 Motion Control Function
8-13
2. Control by Incremental method (「Relative positioning operation(MC_MoveRelative)」)
(1) It moves the object as much as the target moving amount from start position. Unlike the target position of the absolute
coordinate, the value specified on target position is not position value. That is a transfer amount from the starting position.
(2) Transfer direction is determined by the sign of moving amount.
▷ Transfer direction (+) or no sign: forward direction positioning (starting position increases)
▷ Transfer direction ( - ) : reverse direction positioning (starting position decreases)
Starting position
Reverse Forward
Amount of movement is - Amount of movement is +
[ Example ] Executes Absolute coordinate, single-axis position control with the following setting
▷ Start position: 5000,
▷ Target position: -7000
It goes to reverse direction and stops at the –2000.
-2000
Target position Starting position
0
5000
Position control to reverse direction
(Amount of movement -7000)
■ Relevant motion function block
Name
Description
Operation Condition
MC_MoveRelative
Relative positioning
operation
Edge
MC_MoveRelative
AxisAxis
Execute Done BOOL
UINT
BOOL
UINT
BOOL ContinuousUpdate
LREAL Distance
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
LREAL Velocity
Active BOOL
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode