Chapter 6 Motion Function Block ………………………................................................………………………………… 6-1 ~ 6-207
6.1 Common Elements of Motion Function Blocks ................................................................................................................ 6 - 1
6.1.1 The State of Axis ......................................................................................................................................................... 6 - 1
6.1.2 The state of Group ...................................................................................................................................................... 6 - 3
6.1.3 Basic I/O Variable ....................................................................................................................................................... 6 - 4
6.1.4 BufferMode Input ........................................................................................................................................................ 6 - 7
6.1.5 Changes in Parameters during Execution of Motion Function Block ....................................................................... 6 - 7
6.1.6 Group Operation Route Change Settings ................................................................................................................. 6 - 8
6.1.7 Motion Function Block Errors .................................................................................................................................. 6 - 10
6.2 Motion Function Block .................................................................................................................................................... 6 - 11
6.3 Single-Axis Motion Function Blocks ............................................................................................................................... 6 - 14
6.3.1 Servo On/Off (MC_Power) ...................................................................................................................................... 6 - 14
6.3.2 Perform the search home (MC_Home) .................................................................................................................. 6 - 15
6.3.3 Stop immediately (MC_STOP) ............................................................................................................................... 6 - 17
6.3.4 Stop (MC_Halt) ........................................................................................................................................................ 6 - 18
6.3.5 Absolute positioning operation (MC_MoveAbsolute) ............................................................................................. 6 - 19
6.3.6 Relative positioning operation (MC_MoveRelative) ............................................................................................... 6 - 22
6.3.7 Additive positioning operation (MC_MoveAdditive) ............................................................................................... 6 - 25
6.3.8 Specified velocity operation (MC_MoveVelocity) ................................................................................................... 6 - 29
6.3.9 Absolute position operation ending with specified velocity operation
(MC_MoveContinuousAbsolute) ............................................................................................................................. 6 - 32
6.3.10 Relative position operation ending with specified velocity operation
(MC_MoveContinuousRelative) ............................................................................................................................ 6 - 36
6.3.11 Torque control (MC_TorqueControl) .................................................................................................................... 6 - 39
6.3.12 Setting the current position (MC_SetPosition) ..................................................................................................... 6 - 41
6.3.13 Velocity/Acceleration override (MC_SetOverride) ............................................................................................... 6 - 43
6.3.14 Read Parameter (MC_ReadParameter) .............................................................................................................. 6 - 45
6.3.15 Write Parameter (MC_WriteParameter) ............................................................................................................... 6 - 48
6.3.16 Reset axis error (MC_Reset) ................................................................................................................................ 6 - 51
6.3.17 Touch probe (MC_TouchProbe) .......................................................................................................................... 6 - 52
6.3.18 Abort trigger events (MC_AbortTrigger) ............................................................................................................... 6 - 56
6.3.19 SuperImposed operation (MC_MoveSuperImposed) ......................................................................................... 6 - 57
6.3.20 SuperImposed operation halt (MC_HaltSuperImposed) ..................................................................................... 6 - 58
6.4 Multi-Axis Motion Function Blocks ................................................................................................................................. 6 - 59
6.4.1 Camming run (MC_CamIn) .................................................................................................................................... 6 - 59
6.4.2 Camming stop (MC_CamOut) ................................................................................................................................ 6 - 66
6.4.3 Electrical gearing run (MC_GearIn) ........................................................................................................................ 6 - 69
6.4.4 Electrical gearing disengage (MC_GearOut) ......................................................................................................... 6 - 72
6.4.5 Electrical gearing by specifying the position (MC_GearInPos) .............................................................................. 6 - 74
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