11.3 Single-axis Operation
This section explains single-axis operations using function blocks.
11.3.1 Overview of Single-axis Operation
The motion function of the GM1 controller supports position control, velocity control, and torque
control as control modes.
While switching the control mode according to the purpose, you can use motion-related function
blocks.
This section explains how to switch the control mode and how to do programming for typical
control methods in each control mode.
For the detailed specifications of function blocks supported by the GM1 controller
, refer to the
instruction reference.
11.3.2 Position Control
Position control is control that runs the motor until the specified position or distance is reached.
The "MC_MoveAbsolute
" function block is used to specify a movement destination position
("Position") and the "MC_MoveRelative" function block is used to specify a movement distance
("Distance").
■
Program examples
In the following LD program example, the "MC_MoveAbsolute" function block is used to run the
motor in the forward direction until position 180 is reached and the "MC_MoveRelative" function
block is used to run the motor until distance 4000 is reached. Before executing the
"MC_Absolute" function block, use the "MC_Power" function block to turn ON the servo
corresponding to the target axis.
● For details, refer to the GM1 Series Reference Manual (Instruction).
11.3 Single-axis Operation
11-26 WUME-GM1RTXOP-01
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