Specifications

Publication GMC-SG001E-EN-P — June 2001
Software 5-7
Motion Move Instructions
Motion Group Instructions
Motion Event Instructions
Motion Configuration Instructions
Command Required Instruction
Initiate a controlled stop of any motion process on an axis Motion Axis Stop (MAS)
Home an axis Motion Axis Home (MAH)
Initiate a jog motion profile for an axis Motion Axis Jog (MAJ)
Initiate a move profile for an axis Motion Axis Move (MAM)
Provide electronic gearing between any two axes Motion Axis Gearing (MAG)
Change the speed, acceleration rate, or deceleration rate of a move or jog profile in progress Motion Change Dynamics (MCD)
Change the command or actual position of an axis Motion Redefine Position (MRP)
Compute a cam profile Motion Calculate Cam Profile (MCCP)
Initiate a position cam profile Motion Axis Position Cam (MAPC)
Initiate a time cam profile Motion Axis Time Cam (MATC)
Command Required Instruction
Initiate a stop of motion on a group of axes Motion Group Stop (MGS)
Initiate a stop of all motion on all the axes in a group, using the method that you set for each axis Motion Group Program Stop (MGPS)
Force all axes in a group into the shutdown operating state Motion Group Shutdown (MGSD)
Transition a group of axes from the shutdown operating state to the axis ready operating state Motion Group Shutdown Reset (MGSR)
Latch the current command and actual position of all axes in a group Motion Group Strobe Position (MGSP)
Command Required Instruction
Arm watch-position event-checking for an axis Motion Arm Watch (MAW)
Disarm watch-position event-checking for an axis Motion Disarm Watch (MDW)
Arm servo-module registration-event checking for an axis Motion Arm Registration (MAR)
Disarm servo-module registration-event checking for an axis Motion Disarm Registration (MDR)
Arm an Output Cam Motion Arm Output Cam (MAOC)
Disarm an Output Cam Motion Disarm Output Cam (MDOC)
Command Required Instruction
Compute a complete set of servo gains and dynamic limits based on a previously executed MRAT
instruction
Motion Apply Axis Tuning (MAAT)
Command the servo module to run a tuning motion profile for an axis Motion Run Axis Tuning (MRAT)
Apply the results of a previously executed MRHD instruction Motion Apply Hookup Diagnostics (MAHD)
Command the servo module to run one of three diagnostic tests on an axis Motion Run Hookup Diagnostics (MRHD)