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7.1.4
Motion and Communication Instructions for Each Task Type
Here is the table of motion instructions for different task types. "V" means the motion instruction can be
executed for the task type and "–" means the motion instruction can not be executed for the task type.
Classification
MC_Power
MC_Home
MC_MoveVelocity
MC_Halt
MC_Stop
MC_MoveRelative
MC_MoveAdditive
MC_MoveAbsolute
MC_MoveSuperimposed
MC_Haltsuperimposed
MC_SetPosition
MC_SetOverride
MC_Reset
DMC_SetTorque
MC_ReadAxisError
MC_ReadActualPosition
Single-axis
instructions
MC_ReadStatus
MC_ReadMotionState
DMC_ReadParameter_Motion
DMC_WriteParameter_Motion
DMC_TouchProbe
DMC_ChangeMechanismGearRatio
DMC_Jog
DMC_MoveVelocity
DMC_MoveVelocityStopByPos
DMC_MoveVelocityStopByLinePos
DMC_ReadPositionLagStatus
DMC_SwitchSoftLimit
DMC_TorqueControl
DMC_TouchProbeCyclically
DMC_WritePositionLagSetting
7-7
Instruction name
Chapter 7 Introduction of Axis Parameters
Task type
Cyclic
Freewheeling
task
task
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
V
V
V
V
V
V
V
V
V
V
V
V
-
-
-
-
-
-
-
-
-
-
-
-
V
V
V
V
-
-
-
-
V
V
Event-triggered
task
Motion
Motion
task
task
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
-
V
V
V
V
V
V
V
V
V
V
7_
V
V
V
-
V
-
V
-
V
-
V
-
V
-
V
V
V
V
V
-
V
-
V
V
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