Changes for page 3.04 List of instructions

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	1	+== **Single-axis instruction** ==
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	3	+
	4	+|**Instruction Category**|**Name**|**FB/FC**|**Function**
	5	+|(% rowspan="51" %)Motion Control: Single Axis Instruction|[[3.5.1 MC_AccelerationProfile>>path:#_MC_AccelerationProfile]]|FB|Acceleration profile instruction
	6	+|[[3.5.2 MC_Halt>>path:#_MC_Halt]]|FB|Axis normal stop instruction
	7	+|[[3.5.3 MC_PWM>>path:#_MC_PWM]]|FB|Pulse width frequency control
	8	+|[[3.5.4 MC_Home>>path:#_3.5.4_MC_Home]]|FB|Homing instruction
	9	+|[[3.5.5 MC_Home_P>>path:#_MC_Home_P]]|FB|Homing instruction
	10	+|[[3.5.6 MC_MoveAbsolute>>path:#_MC_MoveAbsolute]]|FB|Axis absolute position control instruction
	11	+|[[3.5.7 MC_MoveAdditive>>path:#_MC_MoveAdditive]]|FB|Superimposed absolute motion instruction
	12	+|[[3.5.8 MC_MoveRelative>>path:#_MC_MoveRelative]]|FB|Axis relative positioning instruction
	13	+|[[3.5.9 MC_MoveSuperImposed>>path:#_MC_MoveSuperImposed]]|FB|Superimposed relative motion instruction
	14	+|[[3.5.10 MC_MoveVelocity>>path:#_MC_MoveVelocity]]|FB|Speed control instruction
	15	+|[[3.5.11 MC_PositionProfile>>path:#_MC_PositionProfile]]|FB|Position contour instruction
	16	+|[[3.5.12 MC_Power>>path:#_MC_Power]]|FB|Axis enable instruction
	17	+|[[3.5.13 MC_ReadActualPosition>>path:#_MC_ReadActualPosition]]|FB|Actual position read instruction
	18	+|[[3.5.14 MC_ReadAxisError>>path:#_MC_ReadAxisError]]|FB|Error status of read axis
	19	+|[[3.5.15 MC_ReadBoolParameter>>path:#_MC_ReadBoolParameter]]|FB|Read the bit parameter of the axis
	20	+|[[3.5.16 MC_ReadStatus>>path:#_MC_ReadStatus]]|FB|Read the status of the axis
	21	+|[[3.5.17 MC_ReadParameter>>path:#_MC_ReadParameter]]|FB|Read the parameters of the axis
	22	+|[[3.5.18 MC_Reset>>path:#_MC_Reset]]|FB|Axis Error State Reset Instruction
	23	+|[[3.5.19 MC_Stop>>path:#_MC_Stop]]|FB|Axis stop instruction
	24	+|[[3.5.20 MC_VelocityProfile>>path:#_MC_VelocityProfile]]|FB|Speed profile instruction
	25	+|[[3.5.21 MC_WriteBoolParameter>>path:#_MC_WriteBoolParameter]]|FB|Set the bit parameters of the axis
	26	+|[[3.5.22 MC_WriteParameter>>path:#_MC_WriteParameter]]|FB|Set axis parameters
	27	+|[[3.5.23 MC_AbortTrigger>>path:#_3.5.23_MC_AbortTrigger]]|FB|Function block termination event association
	28	+|[[3.5.24 MC_AbortTrigger_P>>path:#_MC_AbortTrigger_P]]|FB|Function block termination event association
	29	+|[[3.5.25 MC_ReadActualVelocity>>path:#_MC_MoveRelative]]|FB|Current speed read instruction
	30	+|[[3.5.26 MC_SetPosition>>path:#_MC_SetPosition]]|FB|Set the position parameters of the axis
	31	+|[[3.5.27 MC_TouchProbe>>path:#_3.5.27_MC_TouchProbe]]|FB|Enable external locking
	32	+|[[3.5.28 MC_TouchProbe_P>>path:#_MC_TouchProbe_P]]|FB|Enable external locking
	33	+|[[3.5.29 SMC_MoveContinuousAbsolute>>path:#_SMC_MoveContinuousAbsolute]]|FB|Axis absolute position continuous control instruction
	34	+|[[3.5.30 SMC_MoveContinuousRelative>>path:#_SMC_MoveContinuousRelative]]|FB|Axis relative positioning instruction
	35	+|[[3.5.31 MC_Jog>>path:#_MC_Jog]]|FB|Axis jog instruction
	36	+|[[3.5.32 SMC_Inch>>path:#_SMC_Inch]]|FB|Axis movement instruction
	37	+|[[3.5.33 SMC3_PersistPosition>>path:#_SMC3_PersistPosition]]|FB|Axis position retention
	38	+|[[3.5.34 SMC3_PersistPositionSingleturn>>path:#_SMC3_PersistPositionSingleturn]]|FB|Axis position retention
	39	+|[[3.5.35 SMC_CheckAxisCommunication>>path:#_SMC_CheckAxisCommunication]]|FB|Axis Communication Status Check
	40	+|[[3.5.36 SMC_FollowPosition>>path:#_SMC_FollowPosition]]|FB|Axis position follow
	41	+|[[3.5.37 SMC_FollowPositionVelocity>>path:#_SMC_FollowPositionVelocity]]|FB|Axis position velocity follow
	42	+|[[3.5.38 SMC_FollowVelocity>>path:#_SMC_FollowVelocity]]|FB|Axis velocity following
	43	+|[[3.5.39 SMC_FollowSetValues>>path:#_SMC_FollowSetValues]]|FB|Axis setpoint follows
	44	+|[[3.5.40 SMC_CheckLimits>>path:#_SMC_CheckLimits]]|FB|Axis limit check
	45	+|[[3.5.41 SMC_GetMaxSetAccDec>>path:#_SMC_GetMaxSetVelocity]]|FB|Read axis maximum acceleration and deceleration
	46	+|[[3.5.42 SMC_GetMaxSetVelocity>>path:#_SMC_GetMaxSetVelocity]]|FB|Maximum speed of read axis
	47	+|[[3.5.43 SMC_GetTrackingError>>path:#_SMC_GetTrackingError]]|FB|Axis hysteresis deviation reading
	48	+|[[3.5.44 SMC_InPosition>>path:#_SMC_InPosition]]|FB|Axis deviation monitoring
	49	+|[[3.5.45 SMC_ReadSetPosition>>path:#_SMC_ReadSetPosition]]|FB|Axis read instruction position
	50	+|[[3.5.46 SMC_BacklashCompensation>>path:#_SMC_BacklashCompensation]]|FB|Clearance compensation
	51	+|3.5.47 [[SMC_ChangeGearingRatio>>path:#_SMC_ChangeGearingRatio]]|FB|Change the gear ratio
	52	+|[[3.5.48 SMC_ReadFBError>>path:#_SMC_ReadFBError]]|FB|Read function block error
	53	+|[[3.5.49 SMC_ClearFBError>>path:#_SMC_ClearFBError]]|FC|Clear FB Error for Function Block
	54	+|[[3.5.50 SMC_Homing>>path:#_3.5.50_SMC_Homing]]|FB|Axis homing
	55	+|[[3.5.51 SMC_SetSoftwareLimits>>path:#_SMC_SetSoftwareLimits]]|FB|Setting software restrictions
	56	+
	57	+
	58	+
	59	+== **Multi-axis instruction (master/slave instruction)** ==
	60	+
	61	+
	62	+|Instruction category|Name|FB/FC|Function
	63	+|(% rowspan="32" %)Motion Control: Multi-Axis Instruction|[[3.6.1 SMC_CamRegister>>path:#_SMC_CamRegister]]|FB|Cam tappet control
	64	+|[[3.6.2 SMC_GetCamSlaveSetPosition>>path:#_SMC_GetCamSlaveSetPosition]]|FB|Get cam slave axis position
	65	+|[[3.6.3 SMC_GetTappetValue>>path:#_SMC_GetTappetValue]]|FB|Get the tappet output value
	66	+|[[3.6.4 MC_CamTableSelect>>path:#_MC_CamTableSelect]]|FB|Specify a cam table
	67	+|[[3.6.5 MC_CamIn>>path:#_MC_CamIn]]|FB|Cam action begins
	68	+|[[3.6.6 MC_CamOut>>path:#_MC_CamOut]]|FB|Disconnect cam coupling
	69	+|[[3.6.7 MC_GearIn>>path:#_MC_GearIn]]|FB|Electronic gear function block
	70	+|[[3.6.8 MC_GearOut>>path:#_MC_GearOut]]|FB|Electronic gear coupling disconnect
	71	+|[[3.6.9 MC_GearInPos>>path:#_MC_GearInPos]]|FB|Cut-in electronic gear coupling at designated position
	72	+|[[3.6.10 MC_Phasing>>path:#_MC_Phasing]]|FB|Master-slave axis phase offset
	73	+|[[3.6.11 SMC_CAMBounds>>path:#_SMC_CAMBounds]]|FB|Upper and lower cam limit
	74	+|[[3.6.12 SMC_CAMBounds_Pos>>path:#_SMC_CAMBounds_Pos]]|FB|Upper and lower cam position limits
	75	+|[[3.6.13 SMC_WriteCAM>>path:#_SMC_WriteCAM]]|FB|Cam table storage
	76	+|[[3.6.14 SMC_ReadCAM>>path:#_SMC_ReadCAM]]|FB|Loading cam
	77	+|[[3.6.15 MC_GroupEnable>>path:#_3.6.15_MC_GroupEnable]]|FB|Enable axis group
	78	+|[[3.6.16 MC_GroupDisable>>path:#_3.6.16_MC_GroupDisable]]|FB|Disable axis group
	79	+|[[3.6.17 MC_GroupSetPosition>>path:#_3.6.17_MC_GroupSetPosition]]|FB|Set current position of axis group
	80	+|[[3.6.18 MC_GroupReadActualPosition>>path:#_3.6.18_MC_GroupReadActualPosition]]|FB|Read actual position of axis group
	81	+|[[3.6.19 MC_GroupReadActualVelocity>>path:#_3.6.19_MC_GroupReadActualVelocity]]|FB|Read actual speed of axis group
	82	+|[[3.6.20 MC_GroupReadActualAcceleration>>path:#_3.6.20_MC_GroupReadActualAccelerati]]|FB|Read actual acceleration of axis group
	83	+|[[3.6.21 MC_GroupStop>>path:#_3.6.21_MC_GroupStop]]|FB|Axis group emergency stop
	84	+|[[3.6.22 MC_GroupHalt>>path:#_3.6.22_MC_GroupHalt]]|FB|Axis group halt
	85	+|[[3.6.23 MC_GroupSetOverride>>path:#_3.6.23_MC_GroupSetOverride]]|FB|Set axis group override
	86	+|[[3.6.24 MC_MoveLinearRelative>>path:#_3.6.24_MC_MoveLinearRelative]]|FB|Linear relative motion
	87	+|[[3.6.25 MC_MoveLinearAbsolute>>path:#_3.6.25_MC_MoveLinearAbsolute]]|FB|Linear absolute motion
	88	+|[[3.6.26 MC_MoveCircularRelative>>path:#_3.6.26_MC_MoveCircularRelative]]|FB|Circular relative motion
	89	+|[[3.6.27 MC_MoveCircularAbsolute>>path:#_3.6.27_MC_MoveCircularAbsolute]]|FB|Circular absolute motion
	90	+|[[3.6.28 MC_GroupReset>>path:#_3.6.28_MC_GroupReset]]|FB|Reset axis group
	91	+|[[3.6.29 MC_GroupReadError>>path:#_3.6.29_MC_GroupReadError]]|FB|Read axis group error information
	92	+|[[3.6.30 MC_GroupReadStatus>>path:#_3.6.30_MC_GroupReadStatus]]|FB|Read axis group status
	93	+|[[3.6.31 MC_GroupInterrupt>>path:#_3.6.31_MC_GroupInterrupt]]|FB|Pause axis group
	94	+|[[3.6.32 MC_GroupContinue>>path:#_3.6.31_MC_GroupContinue]]|FB|Restart axis group
	95	+
	96	+