Chapter 7 Program
(1) Command condition
: It is a condition to make the axis perform speed control/torque control operations.
(2) Axis connection state flag
: In case 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 speed control operation/ 2-axis torque control operation commands
: In example programs, specified velocity operation (MC_MoveVelocity) motion function block is executed in 1-axis, and toque
control operation (MC_TorqueControl) motion function block is executed in 2-axis 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) Torque control operation command input variables
: These are input variables to execute torque control operation (MC_TorqueControl) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
motion function block. For details, refer to “6.1.5 Changes in parameters during the execution of motion function block”.
- Operation torque: It sets torque values in torque control operation.
- The maximum time to reach operation torque: It sets the maximum slope from the current torque until changed to the set
torque. Its unit is [Unit/s].
-Maximum speed, maximum acceleration, maximum deceleration, maximum jerk: Not used.
- Operating direction: It sets direction to be operated with torque control. In case of 1, it operates in forward direction and in
case of 2, in reverse direction.
- 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 details, refer to “6.1.4 Buffer Mode
input”.
(8) Speed control operation command input variables
: These are input variables to execute specified velocity operation (MC_MoveVelocity) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
motion function block. For details, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Operating velocity: It sets velocity in speed control operation.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in speed control operation
respectively.
- Operating direction: It sets directions in speed control operation. In case of 1, it operates in forward direction, in case of 2, in
reverse direction, and in case of 3, it operates in direction of the current operation.
- 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 details, refer to “6.1.4 Buffer Mode
input”.
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