iv Table of Contents
Help Menu ..................................................................113
6 Function Library.............................................................. 115
6.1 List of Functions............................................................... 116
6.2 C/C++ Programming Library............................................ 123
6.3 Initialization ...................................................................... 124
6.4 Pulse Input/Output Configuration..................................... 127
6.5 Velocity mode motion....................................................... 130
6.6 Single Axis Position Mode ............................................... 133
6.7 Linear Interpolated Motion ............................................... 137
6.8 Circular Interpolation Motion............................................ 140
6.9 Home Return Mode.......................................................... 143
6.10 Manual Pulser Motion ...................................................... 146
6.11 Motion Status................................................................... 149
6.12 Motion Interface I/O ......................................................... 151
6.13 Interrupt Control............................................................... 158
6.14 Position Control and Counters......................................... 162
6.15 Position Compare and Latch............................................ 167
6.16 Continuous Motion........................................................... 171
6.17 Multiple Axes Simultaneous Operation............................ 173
6.18 General-Purposed DIO .................................................... 176
6.19 Soft Limit.......................................................................... 179
6.20 Backlash Compensation / Vibration Suppression............ 181
6.21 Speed Profile Calculation................................................. 183
6.22 Return Code..................................................................... 187
7 Connection Example ...................................................... 189
7.1 General Description of Wiring.......................................... 189
7.2 Wiring with DIN-68M-J3A................................................. 189
PIN Assignments: .......................................................191
Signal Connections of Interface Circuit .......................194
Mechanical Dimensions: .............................................197
Appendix .............................................................................. 199
8.1 Color code of Mitsubishi servo J3A cable
(MRJ3CN1 xM-OPEN)........................................... 199
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