11 Motion Control
11.1 RTEX Axis Setting.............................................................................11-3
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1.1.1 Overview of RTEX Axis Setting...................................................... 11-3
11.1.2 Basic Settings of the RTEX Axis .................................................... 11-3
11.1.3 RTEX Axis Extended Setting.......................................................... 11-6
11.2 Basic Preparations for Operation ......................................................11-14
11.2.1 Overview of Basic Preparations for Operation ............................... 11-14
11.2.2 Servo ON or OFF ........................................................................... 11-14
11.2.3 Home Return .................................................................................. 11-15
11.2.4 JOG Operation ............................................................................... 11-24
11.3 Single-axis Operation........................................................................11-26
11.3.1 Overview of Single-axis Operation ................................................. 11-26
11.3.2 Position Control .............................................................................. 11-26
11.3.3 Switching the Control Mode ........................................................... 11-33
11.3.4 Velocity Control .............................................................................. 11-34
11.3.5 Torque Control................................................................................ 11-36
11.3.6 Stop ................................................................................................ 11-38
11.4 Synchronous Operation ....................................................................11-40
11.4.1 Synchronous Cam Operation ......................................................... 11-40
11.4.2 Synchronous Gear operation ......................................................... 11-46
11.5 Multi-axis Operation ..........................................................................11-49
11.5.1 Overview of Interpolation Control ................................................... 11-49
11.5.2 Linear Interpolation and Circular Interpolation ............................... 11-50
11.5.3 How to Use Interpolation Control ................................................... 11-51
11.5.4 Registering a CNC Table................................................................ 11-52
11.5.5 Overview of G-code........................................................................ 11-63
11.5.6 G-code Editor and Coding Rules.................................................... 11-64
11.5.7 Movements Executed by Each G-code and Setting Methods ........ 11-65
11.5.8 SMC_CNC_REF and SMC_OUTQUEUE ...................................... 11-77
11.5.9 Interpolation Operation Programming: How to Create a Program
for Executing Operation .................................................................... 11-78
11.5.10 Interpolation Operation Programming: Explanation of Function
Block (FB) ......................................................................................... 11-81
11.5.11 Interpolation Operation Programming: Specifying the Starting
Coordinates....................................................................................... 11-84
11.5.12 Interpolation Operation Programming: P-point Control and C-
point Control...................................................................................... 11-88
11.5.13 Interpolation Operation Programming: Settings in CNC Table for
C-point Control.................................................................................. 11-90
WUME-GM1RTXOP-01 1
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