Mitsubishi Electric MELSEC iQ-R Series User Manual page 202
Motion module
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Also See for MELSEC iQ-R Series:
- Programming manual (2110 pages) ,
- User manual (760 pages) ,
- Reference manual (498 pages)
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MCv_MoveLinearInterpolateAbsolute
Item
Function overview
Symbol
[Structured Ladder]
Applicable hardware and
software (Language)
Number of input area points
(byte)
248
■I/O variable
Input import : At start
Name
Variable
name
Axes group
AxesGroup
information
■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name
Variable
name
Start
Execute
Continuous
ContinuousUpd
update
ate
Linear
LinearAxes
interpolation
axis
Target position
Position
Velocity
Velocity
Acceleration
Acceleration
Deceleration
Deceleration
Jerk
Jerk
6 AXIS CONTROL FUNCTION
200
6.4 Multiple Axes Positioning Control
Description
Specifies the target position of the absolute position of specified axes group, and executes positioning by linear interpolation
control.
MCv_MoveLinearInterpolateAbsolute
DUT : AxesGroup
B : Execute
B : ContinuousUpdate
W[ ] : LinearAxes
L[ ] : Position
L : Velocity
L : Acceleration
L : Deceleration
L : Jerk
ENUM : VelocityMode
ENUM[ ] : Direction
ENUM : BufferMode
UD : Options
RD78G(H) (Structured Text)
Number of output area points
(byte)
8
Data type
Input
import
AXES_GROUP
_REF
Data type
Import
BOOL
BOOL
INT[1..16]
LREAL[1..16]
/R/C
LREAL
/R/C
LREAL
/R/C
LREAL
LREAL
AxesGroup : DUT
CommandAborted : B
ErrorID : UW
Compiling method
Subroutine type
Setting range
Default
value
Omission
not possible
Setting range
Default
value
FALSE
FALSE
1 to 16
0
Page 67
0.0
Positioning Range
Page 71 Velocity
0.0
set range
Page 295
0.0
Relevant variables
Page 295
0.0
Relevant variables
Page 295
0.0
Relevant variables
Done : B
Busy : B
Active : B
Error : B
FB operation type
Real-time execution
Description
Page 574 Axes group variables
Description
When TRUE, it executes the FB.
During TRUE, it can continuously reflect the intput
of import "C".
Specifies axes to be used in linear interpolation
control from the configuration axes.
Specifies the index No. (1 to 16) of the
configuration axes in array.
When VelocityMode is 2: ReferenceAxisSpeed,
the first element of the array is regarded as the
reference axis.
Sets the target position of the absolute position
according to unit of axis.
It is N-dimensional array data. It is treated as the
absolute position of the configuration axis 1, 2, ...,
N.
Sets the speed command value according to unit
of axis.
Sets the acceleration according to unit of axis.
Sets the deceleration according to unit of axis.
Sets the jerk according to unit of axis.
- Quick Links:
- Introduction
- Axis
- Chapter 1 Axis Setting
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