Function Block Position Controller - _NCCPU141_MoveTimeRelative_DINT

The OMRON FB library for position controllers provides a collection of function blocks developed for simple open loop axis positioning.
Most of the FBs share the same interface (I/O) regardless of the output device employed for positioning (CJ1M, CPUs, CP1H or NC units).
All the FBs rely on the functionalities built-in the CPUs and NC units.
None of the functions employ the feedback from an encoder for positioning.
Function Description
  • When Start (Execute) turns ON, positioning will be performed with relative movement on the axis specified with Axis No. (Axis) using the specified Position command (Distance).
  • Speed command values are automatically determined based on Position command (Position), Total positioning time (PositioningTime), Acceleration time (Acceleration) and Deceleration time (Deceleration).
  • The Positioning completed (Done) will turn ON when positioning by this FB is completed (the target position specified is reached).
  • The Error Flag (Error) will be turned ON and the Error Code (Error code) will be output if an error occurs for this FB.
  • These statuses will be reset when the Start (Execute) turns OFF.
  • If Start (Execute) turns OFF before a positioning operation is completed, the status will be set for at least one cycle when a corresponding condition occurs.
Basic function Positioning is preformed with relative movement in a specified time period.
File name Lib\FBL\omronlib\PositionController\NC-CPU(CJ1MCPU2x)\_NCCPU141_MoveTimeRelative_DINT10.cxf
Applicable models CPU Unit   CJ1M-CPU21/22/23  unit version 3.0 or higher
  CX-Programmer  version 5.0 or higher

Variable Table
Input Variables
Name Variable Name Data type Default Range Description

1(ON): Starts FB

0(OFF): Does not start FB

Axis No. Axis INT &0 &0to&1

&0: PulseOutput 0

&1: PulseOutput 1

Start Execute BOOL 0(OFF)   Starts relative movement
Position command Distance DINT +0 -2,147,483,647 to +2,147,483,647 Specifies the relative travel distance (Pulses)
Total positioning time PositioningTime INT &1 &1 to &65535 Specify a positioning time unit ms
Acceleration time Acceleration INT &1 &1 to &65535 Specify an acceleration time unit ms
Deceleration time Deceleration INT &1 &1 to &65535 Specify a deceleration time unit ms
Pulse method output OutputPulseSelect INT &0 &0 to &1

&O: CW/CCW Output

&1: Pulse + direction output

Output Variables 
Name Variable Name Data type Range Description

1(ON): FB operating normally

0(OFF): FB not operating normally

Positioning completed Done BOOL   1(ON) indicates that positioning is completed
Error flag Error BOOL   1(ON) indicates that an error has occurred in the FB
Error code (may be omitted) Error ID WORD   The error code of the error in the FB will be output.For details of the errors refer to the sections of the manuals listed in the manuals mentioned above. When Unit No. or Axis No. is out of the range 0000 will be output.