As shown below, if overwriting occurs when the "Execute" flag of "MC_MoveAbsolute" is set to
TRUE, the "CommandAborted" flag of
"MC_MoveRelative" will be set to TRUE during
execution, causing the processing to be suspended.
"MC_ReadActualPosition" is a function block that acquires the actual position of the axis. For
details on each function block, refer to the GM1 Series Reference Manual (Instruction).
11.3.3 Switching the Control Mode
This function allows the user to switch the control mode between torque control, velocity
control, and position control that can be used by the motion function of the GM1 controller
.
The control mode to be used can be switched using "SMC_SetControllerMode" of the
"SM3_Basic" function block.
■
Explanation of functions
For the control mode to be used, specify one of the values of enumeration
"SMC_CONTROLLER_MODE" that are shown in the following table.
Control mode Value Description
SMC_torque 1 Torque control mode
SMC_velocity 2 Velocity control mode
SMC_position 3 Position control mode
● For the GM1 controller, the default is position control mode.
●
For program examples of velocity control mode, refer to "11.3.4 Velocity Control". For program
examples of torque control mode, refer to "11.3.5 Torque Control".
11.3 Single-axis Operation
WUME-GM1RTXOP-01 11-33
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