Chapter 11 Motion Control Instructions
Table of Contents
11.1 Table of Motion Control Instructions ........................................................ 11-3
11.2 About Motion Control Instructions ........................................................... 11-4
11.2.1 Composition of A Motion Control Instruction ............................................ 11-4
11.2.2 Program Languages that Motion Control Instructions Support .................... 11-4
11.2.3 Configuration of Motion Control Instructions ............................................ 11-4
11.3 Single-axis Instructions ........................................................................... 11-5
11.3.1 MC_Power .......................................................................................... 11-5
11.3.2 MC_Home......................................................................................... 11-14
11.3.3 MC_MoveVelocity ............................................................................... 11-19
11.3.4 MC_Halt ........................................................................................... 11-26
11.3.5 MC_Stop .......................................................................................... 11-31
11.3.6 MC_MoveRelative .............................................................................. 11-36
11.3.7 MC_MoveAdditive .............................................................................. 11-44
11.3.8 MC_MoveAbsolute ............................................................................. 11-52
11.3.9 MC_MoveSuperimposed ...................................................................... 11-61
11.3.10 MC_HaltSuperimposed ....................................................................... 11-68
11.3.11 MC_SetPosition ................................................................................. 11-73
11.3.12 MC_SetOverride ................................................................................ 11-83
11.3.13 MC_Reset ......................................................................................... 11-87
11.3.14 DMC_SetTorque ................................................................................ 11-90
11.3.15 MC_ReadAxisError ............................................................................. 11-94
11.3.16 MC_ReadActualPosition ...................................................................... 11-96
11.3.17 MC_ReadStatus ................................................................................ 11-101
11.3.18 MC_ReadMotionState ........................................................................ 11-106
11.3.19 DMC_ReadParameter_Motion ............................................................. 11-111
11.3.20 DMC_WriteParameter_Motion ............................................................. 11-115
11.3.21 DMC_TouchProbe ............................................................................. 11-119
11.4 Multi-axis Instructions ......................................................................... 11-128
11.4.1 MC_GearIn ...................................................................................... 11-128
11.4.2 MC_GearOut .................................................................................... 11-134
11.4.3 MC_CombineAxes ............................................................................. 11-139
11.4.4 Introduction of Electronic Cam ............................................................ 11-147
11.4.5 MC_CamIn ...................................................................................... 11-148
11.4.6 MC_CamOut .................................................................................... 11-169
11.5 Application Instructions ....................................................................... 11-175
11.5.1 Rotary Cut Technology ...................................................................... 11-175
11.5.2 Rotary Cut Parameters ...................................................................... 11-176
11-1
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