Yaskawa MP2000 - Manual (Page 91)

TECHNICAL NOTE
MOVE INCREMENTAL function
Function block for MP2000 series
Function Block Summary
This function block commands a controlled motion of a specified distance relative to the actual position at
the time of the execution.
Function Block Diagram
Function Block Operation Notes
• MOVINC must be in H drawing, and to be executed after execution of SVON and
CHANGE DYNAMICS function.
• Rising edge of EXECUTE input initiates block operation, and all block input
values are read.
• The
RUNNING
output bit will be held high until: move is completed, EXECUTE
goes low, or an Error occurs
• DONE bit turns on when positioning is completed (IB**0C1=ON). When
distributing target position and the current position is within the range of the
positioning complete (target position ± positioning completed width), the
positioning completed becomes High.
• If another block takes control of the axis while the block is running a command
error will occur. The ERROR output will go on, but the RDA will not indicate an
error.
• The S-curve, Acceleration, Deceleration and the Speed will be set based on the
values in the RDA, set by Change Dynamics Block.
• Eight words are used as working registers for this function, starting at the
address in Data08W.
File: MP2000_IndividualFunctionDocument_RevC 91/168
Doc Number: eng.MCD.05.101
11/17/2005