Delta AX-3 Series, Operation Manual

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AX - 3 S e r ie s O p e r a t i o n M a n u a l
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_4
4.4.1.4 Motion Instructions for Types of Tasks
Here is the table of motion instructions for different task types. “V” means the motion instruction can be
executed for the task type.

Synchronization axes
Classification Instruction Name
Task Type
Cyclic Freewheeling Bus Cycle EtherCAT
Motion
Control
Function
Blocks
MC_Home V
MC_Stop V
MC_Halt V
MC_MoveAbsolute V
MC_MoveRelative V
MC_MoveAdditive V
MC_MoveSuperImposed V
MC_CamIn V
MC_CamOut V
MC_MoveVelocity V
MC_PositionProfile V
MC_VelocityProfile V
MC_AccelerationProfile V
MC_Jog V
MC_GearIn V
MC_GearOut V
MC_GearInPos V
MC_Phasing V
DMC_TorqueControl V
DMC_VelocityControl V
DMC_MoveLinearAbsolute V
DMC_MoveLinearRelative V
DMC_MoveCircularAbsolute V
DMC_MoveCircularRelative V
DMC_GroupStop V
DMC_GroupHalt V
DMC_Home_P V
Instructions
for
Management
MC_Power V V V
MC_SetPosition V V V
MC_ReadParameter V V V
MC_WriteParameter V V V
MC_ReadBoolParameter V V V
MC_WriteBoolParameter V V V
MC_ReadActualPosition V V V
MC_ReadActualVelocity V V V
MC_ReadActualTorque V V V
MC_Reset V V V
MC_ReadStatus V V V
MC_ReadAxisError V V V