DMC-18x6 Command Reference
135
MC
FUNCTION: Motion Complete - "In Position"
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, MC AB 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 command TW 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 stop
code will be set to 99. An application program will jump to the special label #MCTIME.
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 interrogation command TD. Note: The MC command is
recommended when operating with stepper motors since the generation of step pulses can
be delayed due to the stepper motor smoothing function, KS. In this case, the MC
command would only be satisfied after all steps are generated.
ARGUMENTS: MC nnnnnnnn
where
n is A,B,C,D,E,F,G or H or any combination to specify the axis or axes
No argument specifies that motion on all axes is complete.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
Begin
After Move
Timeout
EXAMPLES:
#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
Hint: MC can be used to verify that the actual motion has been completed.
