Chapter 20
MC_SINGLE – Motion control - single axis blocks
The MC_SINGLE library is designed for motion control in single-axis systems. It features blocks like MC_MoveAbsolute, MC_MoveRelative, and MC_MoveVelocity for precise positioning and speed control. The library includes MC_Home for homing operations, and MC_Power for controlling the power state of the axis. Advanced functionalities are provided by MC_AccelerationProfile, MC_PositionProfile, and MC_VelocityProfile for customizing motion profiles. It also offers monitoring and parameter adjustment capabilities through MC_ReadActualPosition, MC_ReadAxisError, MC_ReadParameter, and MC_WriteParameter. Additionally, the library contains blocks like MC_Halt, MC_Reset, and MC_Stop for emergency and control operations. This library is essential for applications requiring precise and controlled motion in single-axis configurations.
MCP_Halt – Stopping a movement (interruptible)
MCP_HaltSuperimposed – Stopping a movement (superimposed and interruptible)
MCP_Home – Homing
MCP_MoveAbsolute – Move to position (absolute coordinate)
MCP_MoveAdditive – Move to position (relative to previous motion)
MCP_MoveContinuousAbsolute – Move to position (absolute coordinate)
MCP_MoveContinuousRelative – Move to position (relative to previous motion)
MCP_MoveRelative – Move to position (relative to execution point)
MCP_MoveSuperimposed – Superimposed move
MCP_MoveVelocity – Move with constant velocity
MCP_PositionProfile – Position profile
MCP_SetOverride – Set override factors
MCP_Stop – Stopping a movement
MCP_TorqueControl – Torque/force control
MCP_VelocityProfile – Velocity profile
MC_AccelerationProfile, MCP_AccelerationProfile – Acceleration profile
MC_Halt, MCP_Halt – Stopping a movement (interruptible)
MC_HaltSuperimposed, MCP_HaltSuperimposed – Stopping a movement (superimposed and interruptible)
MC_Home, MCP_Home – Homing
MC_MoveAbsolute, MCP_MoveAbsolute – Move to position (absolute coordinate)
MC_MoveAdditive, MCP_MoveAdditive – Move to position (relative to previous motion)
MC_MoveContinuousAbsolute, MCP_MoveContinuousAbsolute – Move to position (absolute coordinate)
MC_MoveContinuousRelative, MCP_MoveContinuousRelative – Move to position (relative to previous motion)
MC_MoveRelative, MCP_MoveRelative – Move to position (relative to execution point)
MC_MoveSuperimposed, MCP_MoveSuperimposed – Superimposed move
MC_MoveVelocity, MCP_MoveVelocity – Move with constant velocity
MC_PositionProfile, MCP_PositionProfile – Position profile
MC_Power – Axis activation (power on/off)
MC_ReadActualPosition – Read actual position
MC_ReadAxisError – Read axis error
MC_ReadBoolParameter – Read axis parameter (bool)
MC_ReadParameter – Read axis parameter
MC_ReadStatus – Read axis status
MC_Reset – Reset axis errors
MC_SetOverride, MCP_SetOverride – Set override factors
MC_Stop, MCP_Stop – Stopping a movement
MC_TorqueControl, MCP_TorqueControl – Torque/force control
MC_VelocityProfile, MCP_VelocityProfile – Velocity profile
MC_WriteBoolParameter – Write axis parameter (bool)
MC_WriteParameter – Write axis parameter
RM_Axis – Motion control axis
RM_AxisOut – Axis output
RM_AxisSpline – Commanded values interpolation
RM_HomeOffset – Homing by setting offset
RM_Track – Tracking and inching
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