Chapter 7 Program
(1) Command condition
: It is a condition to give current location change/operating speed change commands to the axis.
(2) Axis connection state flag
: In case the axis is 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 operation status flag
: If the axis is in operation, it is On.
(5) 1-axis current location change/2-axis speed override command
: In the example program, the current location setting (MC_SetPosition) motion function block is executed under the following
conditions.
- The current location change condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
In addition, speed/acceleration override (MC_SetOverride) motion function block is executed under the following conditions.
- The operating speed change condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- The axis is in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Speed override command input variables
: These are input variables to execute speed/acceleration override (MC_SetOverride) motion function block.
- Command axis: It set the axis in which motion function block is executed.
- Speed override ratio: It sets the ratio of the speed to change in comparison with operating speed that is currently set.
- Acceleration override ratio: It sets the ratio of the acceleration to change in comparison with acceleration value which is
currently set.
- Jerk override ratio: It sets the ratio of the jerk to change in comparison with jerk value that is currently set. That is, if 2 is set to
the value of the ratio, double the currently set value is set. .
(7) Current location change command output variables
: These are variables to store output values generated when the current location setting (MC_SetPosition) motion function
block is executed.
- Execution completed: If the execution of motion function block is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is O.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 Basic input and
output variables.
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