MoveRelative(DINT)Basic AlwaysON(P_On) UnitNo. AxisNo. Position Error Speed Error Acceleration Decelerationtime Model FileLib\FBL\omronlib\PositionController\NCx\NCx021AMoveRelativePositionControlCPUCS1*-CPU**HUnitVersion3.0orlaterCJ1*-CPU**HUnitVersion3.0orlaterCJ1M-CPU**UnitVersion3.0orlaterVersion5.0orLanguagesLadderConditionsforTheBusyOutputisaddedtothe_NCx021_MoveRelative_DINTinthisWhen“Start(Execute)”turnsON,apositioningoperationfortheaxisspecifiedin“UnitNo.(UnitNo)”and“AxisNo.(Axis)”isstartedusingthespecified“Positioncommand(Distance)”,“Speedcommand(Velocity)”,“Accelerationtime(Acceleration)”and“Decelerationtime(Deceleration)”.“Positioningcompleted(Done)”isturnedONwhenthepositioningoperationfortheFBhasbeencompleted.ThisflagwillnotbeturnedONifthepositioningoperationiscanceledbecauseanotheroperationhasbeenstartedfromadifferentinstance,foradecelerationstop,orbecauseanerrorhasoccurred.“Busyflag(Busy)”willbesetwhenthe“Start(Execute)”isturned“Busyflag(Busy)”willberesetwhenanyof“Positioningcompleted(Done)”,“Abort(CommandAborted)”,or“Errorflag(Error)”isturnedON.Evenifanerroroccurswhentheinputvariableisoutoftherange,etc.,“Busyflag(Busy)”willbesetforatleastonecycle.“Errorflag(Error)”willbeturnedONand“Errorcode(ErrorID)”willbeoutputifanerroroccursfortheFB.ThiswillnotoccurforerrorinotherFBsorotherinstancesoftheFB.Thesestatuses( mandAborted/Error/ErrorID)willberesetwhen“Start(Execute)”turnsOFF.If“Start(Execute)”turnsOFFbeforethepositioningoperationhasbeencompleted,thestatuswillbesetforatleastonecyclewhencorrespondingconditionshaveoccurred.ENENOExecuteBusyDoneErrorConnecttheENinputtotheAlwaysONFlagThesameinstancecannotbeusedintwoormoreExecutingthisFBduringthepositioningoperationwillcauseaduplicatestart.Positioningoperationwillbeperformedtotheabsolutepositionspecifiedin“Positioncommand(Distance)”fromthepointatwhichthelastexecutionwasstarted.RefertotheRelatedsfordetails.ENinputConnecttheENinputtotheAlwaysONFlagIfanotherbitisconnectedtoEN,theFBoutputswillbeheldwhentheconnectedbitturnsThisFBdoesnotseewhetherthespecifiedaxisin“UnitNo.(UnitNo)”,“AxisNo.(Axis)”and“Modelselection(Select)”existsornot.TheFBmaynotoperatenormallyiftheseinputinvariablesarenotsetThisFBreferstoBeginningwordsofoperatingdataareas/Operatingdataareadesignationommonparameters.TheFBmaynotoperatenormallyifthesevaluesaredifferentfromoneswhenthepoweristurnedONortheUnitisrestarted.Therefore,donotchangethesecommonparametersafterthepoweristurnedONortheUnitisrestarted.ThisFBusestheRelativeMovementBitintheOperatingMemoryAreas.Therefore,donotturnthesebitsONorOFFuntiltheoperationiscompleted.Forthesamereason,donotusethesebitsforcoiloutputs(OUTcommands).

TurningtheStartTrigger1ONfromOFFwilloperatetheAxis(Xaxis)connectedtothePositionControlUnitwithaunitnumber0usingtheMoveRelativecommand.“Busyflag(Busy)”canbeusedfornottooperatetheFBofthe“Sample2”duringtheFBoperationoftheUnitUnitNo.:XaxisBitBitAlwasONBitBitAlwasONUnitAxisBitPositioncommandSpeedAccelerationDecelerationModelBitBitAlwasONUnitAxisBitPositioncommandSpeedAccelerationDecelerationModel Bit Busy Bit BitD BitE Error Bit Bit Bit Bit Bit Busy Bit BitL BitM Error CS-seriesCS-seriesPositionControlUnitOperationCJ-seriesPositionControlUnitSECTION7DirectOperation11-5ErrorCodeListsVariableTablesInputVariablesVariableData1(ON):FB0(OFF):FBnotUnit(NC1xx)&0to&95(NC2xx)&0to(NC4xx)&0toSpecifytheunitThevalidrangeisdifferentdependingonthevalueof“Modelselection(Select)".Axis(NC1xx)Specifythe(NC2xx)&1,Thevalidrangeisdifferentdependingon(NC4xx)&1tovalueof“Modelselection&1:X&2:Y&3:Z&4:U:StartstherelativeSpecifythetargetUnit:+1toSpecifythetargetspeed.Unit:ppsChangingthevaluewhilethisFBisinwillchangetheactualoperating+0toUnit:+0toSpecifythedecelerationtime.Unit:ms&1,&2,SpecifythemodelofthePositionControl&1:1-axisUnit(NC1xx)&4:4-axisUnitOutputVariableData1(ON):FBoperating0(OFF):FBnotstarted/FBendedwithTurnsONwhenthepositioningoperationhasBusy1(ON)indicatesthattheFBisinItwillbeabortedwhenanyofthefollowingconditionsismetduringoperation.TurnsONwhentheotherMovecommandisdone(DuplicateMove).StoppedwithDecelerationExecutedErrorCounterResetonanoperatingTheRelativeMovementBitischangedbytheotherFBduringRelativeMovementinoperation.ErrorTurnsONwhenanerrorhasoccurredintheErrorReturnstheerrorcodewhenanerrorhasoccurredintheFB.RefertotheRelatedsfordetailsonerrors.Acodeof#0000willbereturnedifanyofthefollowingconditionsissatisfied.InputvariableisoutofTheOperatingdataareadesignationoftheCommon reaisoutofrange.Version exinsthefunctionofthefunctionItdoesnotprovideinformationofrestrictionsontheuseofUnitsandComponentsorcombinationofthem.Foractualapplications,makesuretoreadtheoperation softheapplicableproducts.符號_NCx021A_MoveRelative_DINTAlwaysON(P_On)(BOOL)(BOOL)ENENO(INT)(BOOL)編號定位完成單元編號完成(INT)(BOOL)軸編號Busyflag軸忙(BOOL)(BOOL)啟動中止(DINT)(BOOL)(DINT)(WORDErrorID(DINTAccelerationDINT)Deceleration(INT適用位置控制單元CPUUnitCS1*CPU**HUnitVersion3.0CJ1*CPU**HUnitVersion3.0CJ1MCPU**UnitVersion3.0CP1HCXProgrammerVersion5.0功能塊定義中的語言梯形圖編程功能描述BusyFB中的NCx02_MovRelativ_DIN執行ON（）（速度UnitN）”（軸(Acceeratin)ationFB(Doe)”NON“Start）“（Doe）（ComandAbrtedror（Bus）”Busy（如果FB“Erorcoe(ErrrIDFB或FBStartExecue)” ONENOFFONENOOFFONOFFONOFFONOFFONOFFFB的類型Alway ecutiontype.將EN輸入連接到AlwaysONFlag(P_On).同一實例不能在兩個或時，FB輸出將被保持。限制其他。本FB無法判斷“UnitNo.(UnitNo)”、“Ax