Y_AX_MoveRelativeByTime
This function block converts the MoveTime input into acceleration, velocity, and deceleration for a 1/3, 1/3, 1/3 trapezoidal move profile which will complete in the MoveTime specified. It uses the
MC_MoveRelative
function block.
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| 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 |
| V | Distance | LREAL | A relative positive or negative value within the coordinate system in user units | LREAL#0.0 |
| V | MoveTime | LREAL | The time required (in seconds) for the move to complete. | LREAL#0.0 |
| V | VelocityLimit | LREAL | Maximum velocity used when moving. If left unconnected, no velocity limit will be applied during move. | LREAL#0.0 |
| V | AccelerationLimit | LREAL | Maximum acceleration used when moving. If left unconnected, no acceleration limit will be applied during move. | LREAL#0.0 |
| V | DecelerationLimit | LREAL | Maximum deceleration used when moving. If left unconnected, no deceleration limit will be applied during move. | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute or Enable input, and reset when Done, CommandAborted, or Error is true. | |
| B | Active | BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| B | CommandAborted | BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes:
- See the MoveRelative_ByTime eLearning Module on Yaskawa's YouTube channel.
Error Description:
See the
Function Block ErrorID List.
Example:
Power on the Axis and Execute the
Y_AX_MoveRelativeByTime
Function Block with the following inputs:
The Function Block will produce the following motion captured by the Logic Analyzer:
