2-1-3 Axes Group Variables................................................................................................................2-10
2-1-4
Input Variables for Motion Control Instructions..........................................................................2-12
2-1-5 Output Variables for Motion Control Instructions.......................................................................2-27
2-1-6 In-Out Variables for Motion Control Instructions........................................................................2-30
2-2 Instructions ..........................................................................................................................2-33
2-2-1 Common Commands ................................................................................................................2-33
2-2-2 Axis Commands ........................................................................................................................2-33
2-2-3 Axes Group Commands............................................................................................................2-35
2-3 PDO Mapping .......................................................................................................................2-37
2-3-1 Required Objects ......................................................................................................................2-37
2-3-2 Objects Required for Specific Instructions ................................................................................2-38
Section 3 Axis Command Instructions
MC_Power.........................................................................................................................................3-3
V
ariables .......................................................................................................................................................3-3
Function ........................................................................................................................................................3-4
MC_MoveJog ....................................................................................................................................3-8
Variables .......................................................................................................................................................3-8
Function ........................................................................................................................................................3-9
MC_Home........................................................................................................................................3-18
Variables .....................................................................................................................................................3-18
Function ......................................................................................................................................................3-19
MC_HomeWithParameter ..............................................................................................................3-41
Variables .....................................................................................................................................................3-41
Function ......................................................................................................................................................3-45
MC_Move ........................................................................................................................................3-48
Variables .....................................................................................................................................................3-48
Function ......................................................................................................................................................3-50
MC_MoveAbsolute .........................................................................................................................3-53
Variables .....................................................................................................................................................3-53
Function ......................................................................................................................................................3-55
Sample Programming 1 ..............................................................................................................................3-61
Sample Programming 2 ..............................................................................................................................3-70
MC_MoveRelative...........................................................................................................................3-80
Variables .....................................................................................................................................................3-80
Function ......................................................................................................................................................3-82
MC_MoveVelocity...........................................................................................................................3-88
Variables .....................................................................................................................................................3-88
Function ......................................................................................................................................................3-90
Sample Programming .................................................................................................................................3-94
MC_MoveZeroPosition ................................................................................................................3-104
Variables ...................................................................................................................................................3-104
Function ....................................................................................................................................................3-106
MC_MoveFeed .............................................................................................................................. 3-111
Variables ................................................................................................................................................... 3-111
Function ....................................................................................................................................................3-115
Sample Programming ...............................................................................................................................3-127
MC_Stop........................................................................................................................................3-140
Variables ...................................................................................................................................................3-140
Function ....................................................................................................................................................3-141
MC_ImmediateStop......................................................................................................................3-149
Variables ...................................................................................................................................................3-149
Function ....................................................................................................................................................3-150
MC_SetPosition............................................................................................................................3-154
CONTENTS
9
NY-series Motion Control Instructions Reference Manual (W561)
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