Chapter 7 Program
(1) Command condition
: It is a condition to give linear interpolation command to the axis group.
(2) Axis group connection state flag
: In case axes of the axis group to be operated are connected to motion control module, and EtherCAT communication with
motion control module is normally performed, it is On.
(3) Axis group error/Warning status flag
: If there are errors and warnings in axes included in the axis group, it is On.
(4) Axis group servo-on status
: If axes included in the axis group are in servo-on state, it is On.
(5) Axis group operation status flag
: If axes of the axis group are in operation, it is On.
(6) Axis group 1 absolute position linear interpolation/Axis group 2 relative position linear interpolation commands
: In example programs, absolute position linear interpolation operation (MC_MoveLinearAbsolute) is executed in axis group 1,
and relative position linear interpolation operation (MC_MoveLinearRelative) motion function block in axis 2 under the following
conditions.
- Linear interpolation operation condition is On.
- Axes included in the axis group are normally connected.
- There should be no errors and warnings.
- Axes of the axis group are not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Linear interpolation command input variables
: These are input variables to execute absolute position linear interpolation operation (MC_MoveLinearAbsolute) and relative
position linear interpolation operation (MC_MoveLinearRelative) motion function block.
- Command axis group: It sets axis group in which motion function block is executed.
- Target position by axis: Array variables are set, and linear interpolation operation target position of axes included in axis group
is set in order.
- Linear interpolation speed: It sets target speed to execute linear interpolation, when the speed refers to the interpolation
speed.
- Linear interpolation acceleration, deceleration, jerk: they set values to be applied when performing linear interpolation.
- 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”.
- Group operation route change mode and group operation route change parameter: It specifies in which way the axis group
in operation is connected to the trace the existing commands describe when linear interpolation command is given. Refer to
“6.1.6 Group operation route change settings”.
(8) Linear interpolation command output variable
: It is a variable to store output values generated when absolute position linear interpolation operation
(MC_MoveLinearAbsolute) and relative position linear interpolation operation (MC_MoveLinearRelative) motion function
block is executed.
- Execution completed: When the execution of 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 as the motion function block is executed, it is On.
- 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 I/O Variable”.
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