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Move Relative (Dint) : - Nccpu021 - Moverelative - Dint: Nccpu 021 Basic Function Symbol

This document provides information about the _NCCPU021_MoveRelative_DINT function block that executes relative positioning on an axis. It describes the basic function, symbol, applicable models, usage conditions, function details, input/output variables, and related manuals. The function block performs positioning using relative movement based on inputs for axis number, start trigger, position command, speed command, acceleration/deceleration rates, and pulse output method. It outputs positioning complete and error status signals.

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109 views3 pages

Move Relative (Dint) : - Nccpu021 - Moverelative - Dint: Nccpu 021 Basic Function Symbol

This document provides information about the _NCCPU021_MoveRelative_DINT function block that executes relative positioning on an axis. It describes the basic function, symbol, applicable models, usage conditions, function details, input/output variables, and related manuals. The function block performs positioning using relative movement based on inputs for axis number, start trigger, position command, speed command, acceleration/deceleration rates, and pulse output method. It outputs positioning complete and error status signals.

Uploaded by

Joseph
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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_NCCPU021_MoveRelative_DINT (1/3)

NCCPU
021

Move Relative(DINT): _NCCPU021_MoveRelative_DINT

Basic
function
Symbol

Executes positioning using relative movement.

Always ON (P_On)

_NCCPU021_MoveRelative_DINT
(BOOL)
(BOOL)
EN
ENO
Axis No.
Start
Position command
Speed command
Acceleration rate
Deceleration rate
Pulse output method

File name
Applicable

models
Conditions
for
usage
Function
description

(INT)
Axis
(BOOL)
Execute
(DINT)
Distance
(DINT)
Velocity
(INT)
Acceleration
(INT)
Deceleration
(INT)
OutPulseSelect

Positioning completed
Error flag
Error code
(May be omitted)

Lib\FBL\omronlib\ PositionController \NC-CPU(CJ1MCPU2x)\_NCCPU021_MoveRelative_DINT10.cxf


CPU Unit
CJ1M-CPU21/22/23 Unit version 3.0 or higher
CP1L-***DT-*
CP1L-***DT1-*
CX-Programmer
Version 5.0 or higher
None
Executes positioning on the axis of the specified Axis No. (Axis) with the specified Position command
(Position), Speed command (Velocity), Acceleration rate (Acceleration), and Deceleration rate (Deceleration)
when Start (Execute) is turned ON (using the selected Pulse output method).
The Positioning completed (Done) is turned ON when positioning by this FB is completed (i.e., target position
reached).
The Error flag (Error) will be turned ON and Error code (ErrorID) will be output when an error related to this FB
occurs.
These statuses, Positioning completed (Done)/ Error flag (Error)/ Error code (ErrorID), will be reset when Start
(Execute) is turned OFF. If Start (Execute) was turned OFF before positioning is completed, the status will be
set for at least one cycle when a corresponding condition occurs.
EN

ON
OFF

ENO

ON
OFF

Execute

ON
OFF

Speed
Command
speed

Kind of FB
definition

(BOOL)
Done
(BOOL)
Error
(WORD)
ErrorID

Done

ON
OFF

Error

ON
OFF

Connect Always ON type


Connect the EN input to the Always ON Flag (P_ON).
The same instance cannot be used in two or more places.

_NCCPU021_MoveRelative_DINT (2/3)

FB
precautions

CW output is taken as + direction and CCW output is taken as direction.


When using the Pulse ouput 0 and 1 simultaneously, use the same Pulse output method for them.
If Start (Execute) is turned ON with no origin defined, the present value of output pulse counts will be cleared
to 0 and the next positioning operation is started with the present value of 0. (See the diagram below.)
Execute

ON
OFF

Speed

Output pulse
counts

No origin ON
flag
OFF

EN input
condition
Application
example

Connect the EN input to the Always ON Flag (P_ON).


If a different type of bit is connected to EN, the FB outputs will be maintained when the connected bit is turned
OFF.
Turning the start trigger from OFF to ON will start operating the Servomotor connected to the Pulse output 0 on
the CJ1M-CPU Unit with relative movement.
CJ1MCPU2x

Pulse output 0
Servomotor

Start trigger

Bit B

Bit C

Bit A

Bit A

Always ON (P_On)
Axis No.
Pulse output 0 &0
Start
Bit A
Position command
200000 pulses +200000
Speed command
50000Hz &50000
Acceleration rate
100Hz/4ms &100
Deceleration rate
100Hz/4ms &100
Pulse output method
CW/CCW output &0

Related
manuals

_NCCPU021_MoveRelative_DINT
(BOOL)
(BOOL)
EN
ENO
(INT)
Axis
(BOOL)
Execute
(DINT)
Distance
(DINT)
Velocity
(INT)
Acceleration
(INT)
Deceleration
(INT)
OutPulseSelect

(BOOL)
Done
(BOOL)
Error
(WORD)
ErrorID

CJ1M CPU Units Operation Manual (W395)


5-7 PULSE OUTPUT: PLS2(887)
6-3-3 Origin Search Error Processing Pulse Output Stop Error Codes
SYSMAC CP Series CP1L CPU Unit Operation Manual (W462)

Positioning completed
Bit B
Error flag
Bit C
Error code
(May be omitted)

_NCCPU021_MoveRelative_DINT (3/3)

Variable Table
Input Variables
Name
EN

Variable name
EN

Data type
BOOL

Default

Range

Axis No.

Axis

INT

&0

&0 to &1

Start
Position command

Execute
Distance

BOOL
DINT

0(OFF)
+0

Speed command

Velocity

DINT

&1

-2,147,483,647
to
+2,147,483,647
&1 to &100000

Acceleration rate

Acceleration

INT

&1

&1 to &65535

Deceleration rate

Deceleration

INT

&1

&1 to &65535

Pulse
method

OutPulseSelect

INT

&0

&0 to &1

output

Output Variables
Name
ENO
Positioning
completed
Error flag
Error code
(May be omitted)

Revision History
Version
1.00

Variable name
ENO

Data type
BOOL

Range

Done

BOOL

Error
ErrorID

BOOL
WORD

Date
2005.2.

Contents
Original production

Description
1 (ON): Starts FB
0 (OFF): Does not start FB
&0: Pulse output 0
&1: Pulse output 1
: Starts relative movement
Specifies the relative travel distance.
Unit: Pulses
Specifies the target speed.
Unit: Hz
Specifies the acceleration rate.
Unit: Hz/4ms (Increase (Hz) in frequency per
Pulse control period (4ms))
Specifies the deceleration rate.
Unit: Hz/4ms (Decrease (Hz) in frequency per
Pulse control period (4ms))
&0: CW/CCW output
&1: Pulse + direction output

Description
1(ON) :FB operating normally
0(OFF): FB not operating normally
1 (ON) indicates that positioning has been completed.
1 (ON) indicates that an error has occurred in the FB.
The error code of the error occurred in the FB will be
output. For details of the errors, refer to the sections of
the manual listed in the Related manuals above. When
Unit No. or Axis. No. is out of the range, #0000 will be
output.

Note
This manual is a reference that explains the function block functions.
It does not explain the operational limitations of Units, components, or combinations of Units and components. Always read and
understand the Operation Manuals for the systems Units and other components before using them.

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