LSIS XGT Series - Page 419

Chapter 8 Motion Control Function
8-28
(5) Relevant motion function block
Name
Description
Operation Condition
MC_MoveLinearRelative
Relative positioning linear
interpolation operation
Edge
MC_MoveLinearRelative
Done
Execute
AxesGroup
AxesGroup
BOOLBOOL
UINT UINT
LREAL[ ] Distance
LREAL Velocity
Busy
BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID
WORD
LREAL Acceleration
Active
BOOL
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
(6) Restrictions
Linear interpolation by relative coordinate system cannot be executed in the flowing cases.
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x2094)
• In case the operation speed of configuration axis exceeds the speed limit of each axis (error code: 0x2091)