10.1 EN and ENO .............................................................................................. 10-2 10.2 Relation among Velocity, Acceleration and Jerk ....................................... 10-3 10.3 Introduction of BufferMode ...................................................................... 10-6 10.4 The State Machine .................................................................................. 10-32 Chapter 11 Motion Control Instructions 11.1 Table of Motion Control Instructions ........................................................ 11-4 11.2 About Motion Control Instructions ...........................................................
11-6 Composition of A Motion Control Instruction............................................. 11-6 Program Languages that Motion Control Instructions Support .................... 11-6 Configuration of Motion Control Instructions ............................................ 11-6 11.3 Single-axis Instructions ........................................................................... 11-7 MC_Power ........................................................................................... 11-7 MC_Home ........................................................................................... 11-16 MC_MoveVelocity ................................................................................
11-21 MC_Halt ............................................................................................. 11-28 MC_Stop ............................................................................................ 11-33 MC_MoveRelative ................................................................................ 11-38 MC_MoveAdditive ................................................................................ 11-46 MC_MoveAbsolute ............................................................................... 11-54 MC_MoveSuperimposed........................................................................
11-63 MC_HaltSuperimposed ......................................................................... 11-70 MC_SetPosition ................................................................................... 11-75 MC_SetOverride .................................................................................. 11-86 MC_Reset ........................................................................................... 11-90 DMC_SetTorque .................................................................................. 11-93 MC_ReadAxisError ...............................................................................
11-98 MC_ReadActualPosition ...................................................................... 11-100 MC_ReadStatus ................................................................................. 11-105 MC_ReadMotionState ......................................................................... 11-110 DMC_ReadParameter_Motion .............................................................. 11-115 DMC_WriteParameter_Motion .............................................................. 11-119 DMC_TouchProbe .............................................................................. 11-123 DMC_TouchProbeCyclically .................................................................
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