4.3. Instruction Usage ............................................................................................ 4-7 4.4. Single-Axis Instruction Usage ............................................................................ 4-9 4.4.1. MC_MoveAbsolute ...................................................................................... 4-9 4.4.2. MC_MoveRelative ..................................................................................... 4-15 4.4.3. MC_MoveAdditive ..................................................................................... 4-19 4.4.4. MC_MoveSuperImposed ............................................................................ 4-23 4.4.5.
MC_MoveVelocity ..................................................................................... 4-30 4.4.6. MC_Stop ................................................................................................ 4-33 4.4.7. MC_PassiveHome ..................................................................................... 4-36 4.4.8. MC_Power............................................................................................... 4-39 4.4.9. MC_Reset ............................................................................................... 4-40 4.4.10. MC_ReadStatus ...................................................................................... 4-42 4.4.11.
MC_ReadActualPosition ............................................................................ 4-43 4.4.12. MC_ReadAxisError ................................................................................... 4-44 4.4.13. DMC_ReadParameter ............................................................................... 4-45 4.4.14. DMC_WriteParameter .............................................................................. 4-47 4.4.15. DMC_SetTorque ...................................................................................... 4-48 4.4.16. DMC_ChangeMechanismGearRatio ............................................................. 4-50 4.4.17.
DMC_DisableAxis .................................................................................... 4-53 4.4.18. DMC_PositionLag .................................................................................... 4-55 4.5. Multi-Axis Instruction ..................................................................................... 4-57 4.5.1. MC_CamTableSelect ................................................................................. 4-57 4.5.2. MC_CamIn .............................................................................................. 4-59 4.5.3. MC_CamOut ............................................................................................ 4-78 4.5.4.
DMC_CamSet .......................................................................................... 4-81 4.5.5. MC_GearIn ............................................................................................. 4-85 4.5.6. MC_GearOut ........................................................................................... 4-87 4.5.7. MC_Phasing ............................................................................................ 4-90 4.5.8. DMC_CapturePosition ............................................................................... 4-93 4.5.9. DMC_VirtualAxis ...................................................................................... 4-99 4.5.10.
DMC_ExternalMaster ............................................................................. 4-101 4.5.11. DMC_CamSwitch................................................................................... 4-103 4.6. Logic Instruction .......................................................................................... 4-107 4.6.1. ADD ..................................................................................................... 4-107 4.6.2. ADD_DI ................................................................................................ 4-107 4.6.3. ADD_R ................................................................................................. 4-108 4.6.4.
SUB ..................................................................................................... 4-108 4.6.5. SUB_DI ................................................................................................ 4-109 4.6.6. SUB_R ................................................................................................. 4-109