8.2.10 Axis Group Control Buffer Mode and Transition Mode ........................................................................................ 8 - 40
8.2.11 Synchronous Control ............................................................................................................................................ 8 – 42
8.2.12 Manual Control ....................................................................................................................................................... 8 - 53
8.2.13 SuperImposed Operation ...................................................................................................................................... 8 - 55
8.2.14 Phase Correction Control ...................................................................................................................................... 8 - 57
8.3 Other Functions .............................................................................................................................................................. 8 - 59
8.3.1 Functions to Change Control .................................................................................................................................. 8 - 59
8.3.2 Auxiliary Function of Control .................................................................................................................................... 8 - 66
8.3.3 Data Management Function ................................................................................................................................... 8 - 71
8.3.4 EtherCAT Communication Diagnosis Function ..................................................................................................... 8 - 76
8.3.5 Cable Duplication Function ..................................................................................................................................... 8 - 81
8.3.6 Replace Function during Connection ..................................................................................................................... 8 - 82
8.4 Coordinate System Operation Function ........................................................................................................................ 8 - 83
8.4.1 Summary of the Coordinate Systems Operation ................................................................................................... 8 - 83
8.4.2 ACS/MCS/PCS/TCP ............................................................................................................................................... 8 - 83
8.4.3 PCS Setting .............................................................................................................................................................. 8 - 84
8.4.4 Machine Information Setting .................................................................................................................................... 8 - 85
8.4.5 Work Space Setting ................................................................................................................................................. 8 - 88
8.4.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System ............................................... 8 - 90
8.4.7 Circular Interpolation Operation for Coordinate System ........................................................................................ 8 - 93
8.4.8 Synchronized Operation for Conveyor Belt .......................................................................................................... 8 - 101
8.4.9 Synchronized Operation for Rotary Table ............................................................................................................ 8 - 104
8.4.10 Path-Operation Function for Coordinate System ............................................................................................... 8 - 107
8.5 FoE(File Access over EtherCAT) Function ................................................................................................................. 8 - 109
8.5.1 Overview of FoE Function ..................................................................................................................................... 8 - 109
8.5.2 FoE Download ....................................................................................................................................................... 8 - 109
Chapter 9 NC Control Function ……………….............................…...................………………………………………… 9-1 ~ 9-72
9.1 NC Command .................................................................................................................................................................... 9 - 1
9.1.1 Definition of the NC Command .................................................................................................................................. 9 - 1
9.1.2 Definition of the Command Character ....................................................................................................................... 9 - 1
9.1.3 Coordinate System ..................................................................................................................................................... 9 - 3
9.2 Configuration of the Program ............................................................................................................................................ 9 - 5
9.2.1 NC Program ................................................................................................................................................................ 9 - 5
9.2.2 Configuration of the NC Program ............................................................................................................................... 9 - 5
9.2.3 Data ............................................................................................................................................................................. 9 - 8
9.3 NC Command ................................................................................................................................................................. 9 - 10
9.3.1 Basic Format of the NC Position Command .......................................................................................................... 9 - 10
9.3.2 List of the NC Commands ....................................................................................................................................... 9 - 12
9.3.3 Description of the NC Command ............................................................................................................................ 9 - 14
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