Chapter 4 Motion Control Operation
4.5 Motion Control Program
4.5.1 Program Execution
1. Configuration of the program
Motion control program is composed of functional elements needed in performing certain controls and it is
performed in the internal RAM of motion controller. The program is backed up in the flash memory.
Programs with these functional elements are classified as follows.
Process the command which is executed in every 'main task period'.
Process the command which is executed in every 'periodic task period'.
Initialization task program
Execute the command which is executed once in case of motion controller RUN.
Since the motion control program is stored in eMMC when the power is off, the number of program writes is limited to
100,000 times.
Please be careful when using the program.
4.5.2 Operation Modes
1. RUN mode
This is a mode which normally performs the motion program calculation.
(1) Processing when changing the mode
Initialization is performed in the data area at the beginning, and possibility of performance is decided by
examining the validity of the motion program.
(2) The contents of calculation processing
Motion program, motion command calculation, input/output data processing, and EtherCAT communication
are performed.
2. STOP mode
This is a mode in stop state which does not perform the motion program calculation.
(1) Processing when changing the mode
Every output data is in Off state.
(2) The contents of operation processing
This performs EtherCAT communication.
(3) You can execute the command executed in the command window without motion program operation. The
command executed in the command window is performed, and EtherCAT communication is executed.
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