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7
7 Motion Control7.5 Similarities and Differences Between MC Subprograms and G-code Subprograms
2) Use of motion control instructions
The following table lists modals supported by the instructions.
Instruction Running Plane Position Mode Default Interpolation Speed
XYP/ZXP/YZP G17/G18/G19 ABST/INCT G90/G91
Maximum
speed
Inherited from
the F function
word
DRV √ √ √
LIN √ √ √
INTR √ √ √
CW √ √ √
CCW √ √ √
DRVZ √ √ √
DRVR √ √ √
SINTR √ √ √
DINTR √ √ √
Supported through calling a G-code subprogram by using an MC subprogram
G00 √ (Followed) √ √ (Followed) √ √
G01 √ (Followed) √ √ (Followed) √ √
G02 √ (Followed) √ √ (Followed) √ √
G03 √ (Followed) √ √ (Followed) √ √
• Followed: The modal is not supported by the G-code, but the modal of the motion control subprogram calling the
G-code is followed.
• The modal instruction in a motion control subprogram remains active until the current running is complete (SM91 =
ON) or changed. If the subprogram calls another motion control subprogram, the called subprogram is also within
the current running scope.
• After being started, the motion control subprogram is executed in the default modal, and is always active when the
current modal remains unchanged.
7.5 Similarities and Differences Between MC Subprograms and G-code
Subprograms
Both MC subprograms and G-code subprograms are motion control subprograms used to control the motion path.
Their differences include:
Parameters of an MC subprogram can be elements or immediate operands, and thus can be more exibly set
using the ladder chart. For example, to run a subprogram for arc interpolation, set the radius, center, and the
target position as parameters, and use HMI to congure and release the formula to drive the actuator to move in
any circular path.
G-code is edited in text, and its parameters are generally immediate operands. G-code automatically generated
by third-party software can be imported to control the path, so as to reduce the editing workload.
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