Appendix
Control module output
instruction
Read module input status
instruction
Set module HSC instruction
Read module HSC instruction
Uniaxial absolute motion
instruction
J.4 sm253_motion_ctrl_lib Library Instruction Explanation
For Micro/Win programming, the instruction format of the operation control module is the same
as that of CPU, but differ in the instruction library. Prefix of CPU instruction is MC, while the
motion control module EM253 is MC253. The axis number of CPU instruction is 0~3, while the
motion control module instruction is numbered from 0, which can be continued down and System
automatically assigns to each module. For example, the motion control module instruction axis
number is 0~1, which corresponds to the 0 and 1 axis of the first module respectively. The motion
control module instruction axis number is 2~3, corresponding to the 0 and 1 axis of the second
motion control module respectively. By analogy, if the motion control module out of scope,
consider the parameter error. For example, there is only one motion control module (with only
two axes), motion control module specifies axis 2, but it cannot find the corresponding value, so
that it cannot be used.
Similarly, the module HSC is not uniformly numbered with CPU HSC, which must call the module
instruction for use. The module HSC numbered from 0 and can be continued down. For example,
the HSC of module instruction label 0~1, which corresponds to HSC0 and HSC1 of the first
module respectively; HSC of module instruction 2~3 corresponds to HSC0 and HSC1 of the
second module respectively.
※ Attention
1 Initialization and library storage area
Using the SM253 motion control module require to initialize the system control variables in the
initial call MC253_INIT of the system program (it is needed only once, that is, only be called by
SM0.1). Note that the EM253 motion control module use V memory space. Users can specify the
library storage area address themselves through "library storage area allocation". Users are not
allowed to use the address space occupied by the library in program. (if only one SM253 module
hangs after the CPU, the library occupies 218 bytes; 236 bytes for 2. 254 bytes for 3; 272 bytes
for 4. 290 bytes for 5.)
2 Analog filter
When using SM253 motion control module, you must clear filtering function at the corresponding
channel of SM253 motion control in the upper computer software system block -> input filter ->
analog, and download the system block to the PLC. Otherwise, the SM253 motion control
module library instruction cannot be use (check the PLC information, where the 4 in and 4 out
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