Omron Sysmac NY-series - MC_MoveLinearRelative

MC_MoveLinearRelative
The MC_MoveLinearRelative instruction performs linear interpolation for a specified relative position.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_MoveLinear-
Relative
Relative Line-
ar Interpola-
tion
FB
BufferMode
Tra
nsitionMode
Acceleration
MC_MoveLinearRelative_instance
Deceleration
AxesGroup AxesGroup
Distance
Execute
Error
ErrorID
CommandAborted
Jerk
Active
CoordSystem
MC_MoveLinearRelative
Velocity
Done
Busy
MC_MoveLinearRelative_instance
(
AxesGroup :=parameter,
Execute :=parameter,
Distance :=parameter,
V
elocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range
De-
fault
Description
Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed
when the value of this varia-
ble changes to TRUE.
Distance Travel Dis-
tance
ARRAY [0..3]
OF LREAL
Negative number, positive num-
ber
, or 0
0 Specify the target position
for linear interpolation.
The unit is command units.
*1
Velocity
*2
Target Ve-
locity
LREAL Positive number 0 Specify the target velocity.
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
4 Axes Group Instructions
4-43
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveLinearRelative
4
Variables