Mc (motion complete), Trippoint – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
MC (Motion Complete)
[Trippoint]
DESCRIPTION:
The MC command is a trippoint used to control the timing of events. This command will hold up execution
of the following commands until the current move on the specified axis or axes is completed and the
encoder reaches or passes the specified position. Any combination of axes may be specified with the MC
command. For example, XY waits for motion on both the A and B axis to be complete. MC with no
parameter specifies that motion on all axes is complete. The
TW (Time Wait)
command sets the timeout to
declare an error if the encoder is not in position within the specified time. If a timeout occurs, the trippoint
will clear and the
SC (Stop Code)
command will be set to 99. An application program will jump to the
special label
, if included in your program.
When used in stepper mode, the controller will hold up execution of the proceeding commands until the
controller has generated the same number of steps as specified in the commanded position. The actual
number of steps that have been generated can be monitored by using the
TD (Tell Dual (Auxiliary) Encoder)
interrogation command. Note: The MC (Motion Complete) command is recommended when operating with
stepper motors since the generation of step pulses can be delayed due to the
KS (Step Motor Smoothing)
function. In this case, the MC command would only be satisfied after all steps are generated.
ARGUMENTS: MC nnnn
where
n is A,B,C,D,X,Y,Z,W or any combination specifing the axis or axes.
No argument specifies that motion on all axes is complete.
USAGE:
RELATED COMMANDS:
EXAMPLES:
Hint:
MC can be used to verify that the actual motion has been completed. In certain applications, that have very little KI
(integration), it is possible that the axis does not get to the exact position specified. This means the MC command
will wait the entire time of the TW command. Set the TW command to a realistic value.
While Moving
Yes
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Virtual Axis
No
#MOVE Program
MOVE
PR2000,4000
Independent Move on A and B axis
BG AB
Start the B-axis
MC AB
After the move is complete on T coordinate
system
MG “DONE”; TP
Print message
EN
End of Program