Yaskawa MotionWorks IEC Toolboxes - Manual (Page 322)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 309
XY_MoveRelative
This function block will perform a relative move on the tooltip in a gantry coordinate system. The X and Y axes
must be specified in
GantryStruct before executing this function block. This block calculates the required
acceleration, deceleration and velocity for each axis and then executes MC_MoveRelative function blocks
simultaneously for each axis to create straight line motion at the tool point. This is not considered interpolated
motion. If configured, no motion on the Z axis will occur.
Parameters
* Parameter Data Type Description
VAR_IN_OUT
V Gantry GantryStruct Contains all information pertaining to a gantry system.
VAR_INPUT Default
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
B X_Distance LREAL X coordinate distance to be moved 0.0
B Y_Distance LREAL Y coordinate distance to be moved 0.0
B Velocity LREAL Velocity of the tool tip 0.0