Xy_moverelative, Parameters – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 322
Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
309
XY_MoveRelative
This function block will perform a relative move on the tooltip in a gantry coordinate system. The X and Y axes
must be specified in
before executing this function block. This block calculates the required
acceleration, deceleration and velocity for each axis and then executes MC_MoveRelative function blocks
simultaneously for each axis to create straight line motion at the tool point. This is not considered interpolated
motion. If configured, no motion on the Z axis will occur.
Parameters
*
Parameter
Data Type
Description
VAR_IN_OUT
V
Gantry
Contains all information pertaining to a gantry system.
VAR_INPUT
Default
B
Execute
BOOL
Upon the rising edge, all other function block
inputs are read and the function is initiated.
To modify an input, change the value and re-
trigger the execute input.
FALSE
B
X_Distance
LREAL
X coordinate distance to be moved
0.0
B
Y_Distance
LREAL
Y coordinate distance to be moved
0.0
B
Velocity
LREAL
Velocity of the tool tip
0.0