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CJ2M-MD211/MD212 Function Block For Move Relative(DINT)

Move Relative (DINT)
Name Move Relative (DINT): MD_CPU021_MoveRelative_DINT
Basic Function Executes positioning using relative movement.
Originates from Tsunagi Lab Europe
Created by OEE-HQ HvB (creation and testing)
File Name MD_CPU021_MoveRelative_DINT.cxf
Applicable models CPU Unit CJ2M-CPU Unit version 2.0 or higher with max. two
CJ2M-MD211 (NPN) or
CJ2M-MD212 (PNP)
CX-Programmer Version 9.1.2 or higher
Conditions for usage None.
Function Description 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.

Kind of FB definition 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.
FB Precautions • CW output is taken as + direction and CCW output is taken as – direction.
• When using the Pulse ouput 0&1 or 2&3 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.)

The MD_CPU* function blocks are offered 'as is' and may serve as a basis for development. Users should previously test its adequacy to the final application.

Omron can not be held responsible in case of malfunction.

EN input condition  • 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.
Application example Turning the start trigger from OFF to ON will start operating the Servomotor connected to the Pulse output 0 on the CJ2M-MD21* Unit with relative movement.

Related manuals  CJ2M Pulse I/O User Manual (W486)
 CJ2 Hardware User Manual (W472)
  • Variable Table 

Input Variables

Name Variable name Data type Default Range Description
EN EN BOOL     1 (ON): Starts FB
0 (OFF): Does not start FB
Axis No. Axis INT &0 &0 to &3 &0: Pulse output 0, &1: Pulse output 1
&2: Pulse output 2, &3: Pulse output 3
Start Execute BOOL 0(OFF)   OFF -> ON (rising edge) starts relative movement
Position command Distance DINT +0.0 -2,147,483,647
Specifies the relative travel distance.
Unit: Pulses
Speed command Velocity DINT +1.0 &1 to &100000 Specifies the target speed.
Unit: Hz
Acceleration rate Acceleration INT +1.0 &1 to &65535 Specifies the acceleration rate.
Unit: Hz/4ms (Increase (Hz) in frequency per Pulse control period (4ms))
Deceleration rate Deceleration INT +1.0 &1 to &65535 Specifies the deceleration rate.
Unit: Hz/4ms (Decrease (Hz) in frequency per Pulse control period (4ms))
Pulse output method OutPulseSelect INT &0 &0 to &1 &0: CW/CCW output
&1: Pulse + direction output

Output Variables

Name Variable name Data type Range Description
ENO ENO BOOL   1(ON) :FB operating normally
0(OFF): FB not operating normally
Positioning completed Done BOOL   1 (ON) indicates that positioning has been completed.
Error flag Error BOOL   1 (ON) indicates that an error has occurred in the FB.
Error code (May be omitted) ErrorID WORD   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.

Revision History

Version Date Contents
1.00 16-Feb-2012 Based on Function Block: _NCCPU021_MoveRelative_DINT


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 system’s Units and other components before using them.



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Created 2012-02-17
Modified 2012-02-27
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