2 Enabling the Axes Group
•
Turn ON the Servo for the composition axes of the axes group, and then define home for each
of the composition axes.
• Execute the MC_GroupEnable instruction to enable the registered axes group.
Using the Linear Interpolation instruction is now enabled.
Position (Target Position)
• Set the target position in Position (Target Position) for all of the axes specified with Axis Selection
of the Axes Group Variable.
• You must create a 1×4 array variable in the Sysmac Studio to assign Position (A0, A1, A2, and A3).
You can use any variable name.
Assign the target positions for the axis to the elements of that array.
Always create a 1×4 array even if there are fewer than four axes in the axes group.
An example is shown below when the Pos1 array variable is declared on the Sysmac Studio.
The following example shows assigning the target positions to Pos1
with inline ST.
In the figure, target positions (1000.0, 2000.0, 3000.0) are assigned to axes A0 to A2.
1 Pos1[0] : =LREAL#1000.0; (* A0 *)
2 Pos1[1] : =LREAL#2000.0; (* A1 *)
3 Pos1[2] : =LREAL#3000.0; (* A2 *)
EnterVariable
• If an axis with the Count Mode set to Rotary Mode is set as an interpolation axis and you specify
absolute position, the target value will be the same as if Direction was set to No direction
specified.
For details, refer to Direction on page 3-56
.
4 Axes Group Instructions
4-15
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveLinear
4
Function
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