4. Motion Control Instructions Note: 1. The function of the instruction DNC_CW(IJK) (G2) and DNC_CCW(IJK) (G3) is same as that of G2 and G3 in G codes and the input parameters X_Pos~Deceleration in the instruction and the parameters of X_, Y_, Z_, A_, B_, C_, P_, Q_, I_, J_, K_,T_, F_,E_,E_ in G2 and G3 have same explanation. For more details on G2 and G3, please refer to section 4.8.3.5. 2. The state of axes related to the instruction is Standstill. After “DNC_Group” is executed, the instruction just can be executed and its GroupID must be same as that of DNC_Group. 3. The instruction can be switched to absolute mode via DNC_Absolute (90).
In absolute mode, the terminal position of each axis is based on 0 unit. 4. The instruction can be switched to relative mode via DNC_Relative (91). In relative mode, the terminal position of each axis is calculated as incremental value beginning from current position.
4-222 DVP-MC operating manual Parameter Data Available Explanation name type device C Pos _ The coordinate position of terminal point of the added axis REAL Constant, D P Pos _ The coordinate position of terminal point of the added axis REAL Constant, D Q Pos _ The coordinate position of terminal point of the added axis REAL Constant, D I Value _ The corresponding X-axis coordinates of the center of a circle REAL Constant, D J Value _ The corresponding Y-axis coordinates of the center of a circle REAL Constant, D K Value _ The corresponding Z-axis coordinates of the center of a circle REAL Constant, D T Value _ The quantity of the full circle UINT Constant, D Velocity The feed speed of the circular arc REAL Constant, D Acceleration Acceleration REAL Constant, D Deceleration Deceleration REAL Constant, D GroupID The number of the coordinate motion instruction group, range:
0~7. When the instruction is executed, the group ID should be consistent with that of DNC Group. _ UINT Constant, D Done When the execution of the instruction is finished, “Done” is on; when “Execute” turns off, “Done” is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D