Yaskawa MotionWorks+ Windows Software - Manual (Page 160)

Block Reference MotionWorks+™
154
3.2.17 MOVE AXIS
Definition
This block performs motion to a specified location at a profile described by the
properties of this block. Motion begins immediately after the block has executed. If the
program must wait at this block until motion is completed, set the wait for completion
property to true.
Properties
Acceleration: The acceleration rate of the axis in user units/s
2
.
Deceleration: The deceleration rate of the axis in user units/s
2
.
Move Type: Absolute: The value or expression entered in the position prop-
erty is made to be the new commanded position of the axis.
After the move is complete, the axis is at this position.
Relative: The value or expression entered in the position prop-
erty is added to or subtracted from the current commanded posi-
tion of the servo. After the move is complete, the servo will be
this distance from where it was at the beginning of the move.
Rotary: Specifies an axis with a limited positioning range, but
the axis can travel in one direction indefinitely. The encoder
values are modularized to repeat within a cycle. Positioning
values can be either relative or absolute, but they are modular-
ized to fit within one cycle.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Acceleration N/A 32767 0 ms to rated speed Yes
Deceleration N/A 32767 0 ms from rated speed Yes
Move Type Absolute N/A N/A Absolute, Relative, Rotary No
Position N/A -2147483648 2147483647 Encoder counts Yes
Velocity N/A 0 200.00 % of rated speed Yes
Wait for Completion True False True Configuration No