Omron Sysmac NY-series User Manual

MC_MoveRelative
The MC_MoveRelative instruction moves the axis the specified travel distance from the command cur-
rent position.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_MoveRela-
tive
Relative Posi-
tioning
FB
MC_MoveRelative_instance
Deceleration
Active
Axis Axis
Execute Done
Distance Busy
Acceleration
Error
Jerk
BufferMode
MC_MoveRelative
Velocity
CommandAborted
ErrorID
MC_MoveRelative_instance (
Axis :=parameter,
Execute :=parameter,
Distance :=parameter,
V
elocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
BufferMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when the
value of this variable changes to
TRUE.
Distance Travel Dis-
tance
LREAL Negative number, posi-
tive number
, or 0
0 Specify the travel distance from the
command current position.
The unit is command units.
*1
Velocity Target Ve-
locity
LREAL Positive number 0
Specify the target velocity.
*2
The unit is command units/s.
*1
Acceleration Acceleration
Rate
LREAL Non-negative number 0 Specify the acceleration rate.
The unit is command units/s
2
.
*1
Deceleration Decelera-
tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s
2
.
*1
Jerk Jerk LREAL Non-negative number 0 Specify the jerk.
The unit is command units/s
3
.
*1
3 Axis Command Instructions
3-80
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English