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268
Basic Information
Section 6-1
A
x
is
ope
ra
ti
on
Link operation
MOVELINK (M)
A
A
A
C
C
A
A
A
C
F
C
F
A
F
C
F
A
A
A
A
B
B
I
I
B
A
A
C
MOVELINK
Slave
Q0 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q1 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q2 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q3 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q4 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q5 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Not completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Electronic CAM,
Synchronous
CAMBOX (M)
A
A
A
C
C
A
A
A
C
F
C
F
A
F
C
F
A
A
A
A
B
B
I
I
B
A
A
C
CAMBOX
slave
Q0 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q1 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q2 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q3 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q4 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q5 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q8 Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q9 Completed
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q10 Com-
pleted
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q11 Com-
pleted
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q12 Com-
pleted
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Q13 Com-
pleted
E
E
E
E
E
E
E
E
A
A
A
A
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Not Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Electronic shaft
CONNECT Master
A
A
A
A
A
A
A
A
A
F
A
F
A
F
A
F
A
A
A
A
B
B
I
I
B
A
A
A
CONNECT
slave
Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
A
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Not Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Trailing synchro-
nization
SYNC Master
A
A
A
C
C
A
A
A
C
F
C
F
A
F
C
F
A
A
A
A
B
B
I
I
B
A
A
C
SYNC slave
Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
Not Completed
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
A
B
B
B
B
A
A
A
A
x
is
oper
ati
o
n
Travel distance
superimpose
ADDAX Master
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
B
B
I
I
B
A
A
A
ADDAX Slave
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
D
D
B
A
B
B
B
A
A
A
Speed control
SPEED
Completed
A
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
A
A
B
B
A
B
B
A
A
A
Not Completed
E
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
E
E
B
B
A
B
B
A
A
A
Torque control
TORQUE
Completed
D
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
D
A
B
B
B
A
B
A
A
A
Not Completed
D
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
D
E
B
B
B
A
B
A
A
A
A
x
is
op
er
ati
on ca
ncel
Trailing synchro-
nization cancel
SYNCR
E
E
E
E
E
E
E
E
A
E
A
E
A
E
A
E
A
A
D
D
B
B
B
B
B
A
A
A
Travel distance
superimpose can-
cel
ADDAXR
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
D
D
B
B
B
B
B
A
A
A
Speed control
cancel
SPEEDR
D
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
D
D
B
B
B
B
B
A
A
A
Torque control
cancel
TORQUER
D
D
D
D
D
D
D
D
A
D
A
D
A
D
A
D
A
D
D
D
B
B
B
B
B
A
A
A
Command executed
simultaneously
Classification
Axis movement
Axis operation
Axis
operation
cancel
Setting
Command currently
being Executed
Function/Name
P
o
si
ti
oni
ng
Lin
ear
in
ter
p
o
latio
n
Cir
c
u
lar
in
ter
p
o
latio
n
Or
ig
in
sea
rc
h
Int
e
rr
u
p
t fe
edin
g
T
im
e
-sp
ecifi
ed p
o
si
tio
n
in
g
T
ra
ver
se
E
lect
ro
n
ic
CAM, S
in
g
le ax
is
L
ink
op
e
ra
ti
o
n
E
le
c
tr
o
n
ic CAM,
Syn
c
hr
on
ous
E
le
c
tr
on
ic sh
aft
T
railin
g
sy
n
c
h
ro
n
izati
o
n
T
ra
vel
d
ista
n
ce sup
e
r im
p
o
se
S
p
eed
co
ntr
o
l
To
rq
u
e
c
o
n
tr
o
l
T
ra
ilin
g
syn
c
h
ro
n
izatio
n
c
a
n
c
e
l
T
ra
v
e
l dis
tan
ce su
pe
r im
po
se c
a
nc
el
S
p
eed con
tr
o
l
c
a
nce
l
T
o
rq
ue c
o
n
tr
o
l ca
ncel
T
a
rg
e
t po
sit
ion
ch
an
ge
P
a
ra
me
te
r v
a
lu
e
c
h
a
n
g
e
W
o
rk
piec
e co
or
din
a
te
syst
em
OFF
S
E
T
ch
ange
P
resen
t v
a
lue
latc
h
C
la
ssif
icati
o
n
Function/Name
Command
Stepping
MO
V
E
MO
V
E
L
M
O
VEC
DA
T
U
M
MO
V
E
I
MO
V
E
T
MO
V
E
T
R
A
V
CAM
M
O
VE
L
INK (
M
)
M
O
V
E
L
INK (
S
)
CAM
BO
X (
M
)
CAM
BO
X
(
S
)
CONNE
CT
(
M
)
CONNE
CT
(
S
)
S
Y
NC (
M
)
S
Y
NC (
S
)
ADD
AX (
M
)
ADD
AX
(
S
)
SP
E
E
D
T
O
RQ
UE
SYNCR
ADD
A
X
R
SP
E
E
D
R
T
O
RQ
UE
R
MO
V
E
MOD
I
P
ARA
M
OF
F
P
O
S
LA
TC
H
Содержание CS1W-MCH71 -
Страница 2: ...CS1W MCH71 CJ1W MCH71 Motion Control Unit Operation Manual Revised June 2008 ...
Страница 3: ...iv ...
Страница 29: ...xxx ...
Страница 33: ...xxxiv ...
Страница 35: ...xxxvi ...
Страница 39: ...xl ...
Страница 69: ...24 Performance Section 1 7 ...
Страница 99: ...54 Connecting MECHATROLINK Devices Section 3 5 ...
Страница 283: ...238 Saving Data Section 5 4 ...
Страница 417: ...372 Command Details Section 6 3 ...