Chapter 7 Program
(1) Command condition
: It is a condition to give add axis to group/remove axis from group commands to the axis.
(2) Axis connection status 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 warning in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis add axis to group/2-axis remove axis from group commands
: In the example program, add axis to group (MC_AddAxisToGroup) motion function block is executed under the following
conditions.
- Add axis to group condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
In addition, group axis exclusion (MC_RemoveAxisFromGroup) motion function block is executed under the following
conditions.
- Remove axis from group condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Remove axis from group command input variables
: These are variables to execute group axis exclusion (MC_RemoveAxisFromGroup) motion function block.
- Axis group: It sets the group to exclude the axis.
- The axis ID on axis group ID: It sets ID values granted when the axis is included in axis group.
(7) Add axis to group command output variable
: It is a variable to store output values generated when add axis to group (MC_AddAxisToGroup) motion function block is
executed.
- Execution completed: When motion function block is normally executed, 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 motion commands” of “6.1.3 Basic I/O Variable”.
To Next Page
Loading...
Need help?
General
