Chapter 7 Program
(1) Command condition
: It is a condition to make the axis perform position control operation.
(2) Axis connection state flag
: If the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is
normally performed, it is On.
(3) Axis error/Warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis servo-on status flag
: If the axis is in servo-on state, it is On, and servo-off state, it becomes Off.
(5) Axis operation status flag
: If the axis is in operation, it is On.
(6) 1-axis absolute position operation / 2-axis relative position operation commands
: In example programs, absolute position operation (MC_MoveAbsolute) is performed in 1-axis, and relative position operation
(MC_MoveRelative) in 2-aixs under the following conditions.
- The axis operation condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- Servo-on state
- Not in operation.
Conditions to perform motion function block may vary depending on systems.
(7) Relative position operation command input variables
: These are input variables to perform relative position operation (MC_MoveRelative) motion function block.
- Command-axis: It sets the axis in which motion function block is performed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing the input variables of motion
function block.
For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Operating distance: It sets distance to perform relative coordinate operation. Based on the current position, + value means
forward direction, and – value means reverse direction value.
- Operating velocity: It sets velocity to perform relative coordinate operation.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in relative coordinate operation
respectively.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately
or execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer
Mode input”.
(8) Absolute position operation command input variables
: These are input variables to perform absolute position operation (MC_MoveAbsolute) motion function block.
- Command-axis: It sets the axis in which motion function block is performed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing the input variables of motion
function block.
For more information, “6.1.5 Changes in parameters during execution of motion function block”.
- Target position: It sets the position that moves to absolute coordinate operation.
- Operating velocity: It sets the velocity when absolute position operation is performed to the target position.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in absolute coordinate operation
respectively.
- Operating direction: It sets direction when moving to the target position. In case of 1, movement to the target position is made
through forward direction operation, in case of 2, operation is made in the direction that can reach the target area in the
shortest distance based on the current position, in case of 3, reverse direction, and in case of 4, movement to the target
position is made through operation in the direction of the current operation.
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