Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39

From 9.1 to 9.2

From version 1.1

edited by Wecon
on 2025/09/03 21:02

Change comment: Imported from XAR

To version 9.1

edited by Iris
on 2026/02/10 11:30

Change comment: There is no comment for this version

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@@ -1,1 +1,1 @@
--XWiki.Wecon
++XWiki.Iris

Content

@@ -814,6 +814,9 @@
  Precautions
  * This function block is not available when the axis does not exist.
++* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
++* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
++* In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
  Error code
@@ -2199,6 +2199,17 @@
  )))
++
++
++
++
++
++
++
++
++
++
++
  == **Management functions of axis group motion control** ==
  ----
@@ -3732,6 +3732,661 @@
  |=**Error code**|=**Content**
  |4084H|Input data beyond the specifiable range
++=== **MC _ MOVEVELOCITY _ CSV** ===
++
++MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
++
++[[image:1761032781939-478.png]]
++
++The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
++
++**Device used (only a single device can be used, device splicing and index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
++**Index**
++
++**Modification**
++)))|(((
++**Pulse**
++
++**Expansion**
++)))
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="15" %)(((
++MC _ MOVEVELOCITY
++
++_ CSV
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
++|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes:**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
++|(% rowspan="15" %)(((
++MC _ MOVE
++
++VELOCITY _ CSV
++)))|Execute|BOOL|No|TRUE/FALSE|Enable
++|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
++|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
++|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
++|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
++|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
++|Direction|WORD|No|[1,4]|(((
++Direction flag bit (Only rotation mode takes effect）。
++
++~1. Positive direction;
++
++2. Negative direction;
++
++3. The current direction;
++
++4. The shortest path (reserved).
++)))
++|BufferMode|WORD|Yes|[0]|BufferMode
++|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
++|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Activity flag
++|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
++|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
++|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
++
++**Function**
++
++* The MC _ MoveVelocity function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
++* Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
++* When the speed of the controlled axis reaches the input parameter ‘Velocity’ setpoint, the output parameter ‘InVelocity’ is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter InVelocity is reset;
++* The MC _ MoveVelocity function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
++* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
++
++**Error code**
++
++|**Error code**|**Content**
++|4084H|Input data beyond the specifiable range
++
++**Precautions**
++
++* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
++* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
++
++**Timing diagram**
++
++
++(% style="text-align:center" %)
++[[image:1761032845559-339.png||height="306" width="520"]]
++
++=== **MC _ SYNCMOVEVELOCITY** ===
++
++MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
++
++[[image:1761032974104-584.png]]
++
++The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="8" %)(((
++MC _ SYNCMOVE
++
++VELOCITY
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
++|(% rowspan="8" %)(((
++MC _ SYNCMOVE
++
++VELOCITY
++)))|Execute|BOOL|No|TRUE/FALSE|Enable
++|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
++|Axis|(((
++WORD
++
++
++)))|No|[0,65535]|Axis number and built-in variable of axis
++|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
++|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
++|ErrorID|DWORD|Yes|-|(((
++Error code (Please refer to
++
++[[8.11 Error Code>>path:#错误码对照表]]
++)))
++
++**Function**
++
++* The MC _ SYNCMOVEVELOCITY function block function block is used to continue the movement of the previous function block and move according to the speed specified by the function block.
++* Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
++* When the speed of the controlled axis reaches the input parameter Velocity setpoint, the output parameter InVelocity is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter ‘InVelocity’ is reset;
++* The MC _ SYNCMOVEVELOCITY function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
++* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
++
++**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
++
++
++**Error code**
++
++|**Error code**|**Content**
++|4084H|Input data beyond the specifiable range
++
++**Timing diagram**
++
++(% style="text-align:center" %)
++[[image:1761033004563-270.png]]
++
++=== **MC _ SETTORQUE** ===
++
++MC _ SETTORQUE-Synchronous torque instruction
++
++[[image:1761033083623-162.png]]
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
++**Index**
++
++**Modification**
++)))|(((
++**Pulse**
++
++**Expansion**
++)))
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
++|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
++|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
++|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
++|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
++|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
++|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
++|Axis|WORD|No|[0,65535]|Axis number
++|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Valid flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
++|Error|BOOL|Yes|TRUE/FALSE|Error or not
++|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
++
++**Function**
++
++* This instruction is used to implement the synchronous torque control function and is only used for the bus servo axis. The rising edge and high level of the command are valid, and the virtual axis mode is not supported.
++* The following PDOs need to be configured in CST mode;
++
++0x1600: 0x6060, 0x6071, 607f (optional), 6040
++
++0x1A00: 0x6061, 0x6077, 0x6041
++
++* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
++* When Enable = ON, the function block converts TarTorque and MaxVelocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion. When the falling edge of Eanble, the function block performs synchronous torque motion with the TarTorque and Velocity latched during the high level, and it is invalid to modify the TarTorque and Velocity in real time;
++* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
++* This instruction uses the driver synchronous torque mode to realize the torque control function. When Enable = ON, the function block converts TarTorque and Velocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion;
++
++TarTorque: The target torque, the unit is 0.1%. One decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters.
++
++**Note**
++
++* This function block is not available when the axis does not exist.
++
++=== **MC _ TORQUECONTROL** ===
++
++MC _ TORQUECONTROL-Torque control command
++
++[[image:1761033167971-496.png||height="206" width="262"]]
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
++**Index**
++
++**Modification**
++)))|(((
++**Pulse**
++
++**Expansion**
++)))
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="13" %)(((
++MC _ TORQUE
++
++CONTROL
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
++|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
++|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
++|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
++|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
++|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
++|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
++|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
++|BufferMode|WORD|Yes|[0]|Only interrupt mode supported
++|Axis|WORD|No|[0,65535]|Axis number
++|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Valid flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
++|Error|BOOL|Yes|TRUE/FALSE|Error or not
++|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
++
++**Function**
++
++* This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid, and the imaginary axis mode is not supported.
++* The following PDOs need to be configured in CST mode:
++
++0x1600: 0x6060, 0x6071, 607f (optional), 6040
++
++0x1A00: 0x6061, 0x6077, 0x6041
++
++* If VD3E is used, the value of startup parameter 2001:9 is 2;
++
++**Function description**
++
++* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
++* This instruction uses the driver synchronous torque mode to realize the torque control function;
++* On the rising edge of the instruction, the function block latches the input parameters of TarTorque, TorqueSlope and MaxVelocity, and the axis is in the ContinuousMotion state and performs torque motion;
++
++TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
++
++TorqueSlope: Moment slope, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded;
++
++* Speed control in torque mode
++
++For servo drives, if 0x607f is mapped in the axis parameter, this instruction limits the maximum speed of the servo motor by 0x607f, if 0x607f is not mapped, the speed limit is invalid;
++
++On the rising edge of Execute, the instruction converts the speed limit set by Velocity into pulse units and writes it into 0x607f through PDO;
++
++When the torque instruction is interrupted by others, the maximum speed of the axis will be limited by the "Maximum speed" in the configuration interface;
++
++For third-party drives, Velocity can only be used as a speed limit under the following conditions:
++
++The maximum speed of the servomotor can be limited by 0x607F;
++
++0x607F can be configured into the PDO;
++
++The unit of 0x607F is pulse unit, non-speed unit.
++
++* Stop control on torque mode
++
++In the torque mode, the MC _ Stop instruction is called to perform the shut down, and after receiving the Stop instruction, the driver switches to the synchronous position mode, and performs deceleration according to the deceleration set by the Stop instruction.
++
++* Interrupt
++
++In PLCOpen, when the instruction is valid, the axis will be in the Continuous Motion state. Other instructions that can make the axis in Discrete motion or comply with PLCOpen state machine switching can interrupt the instruction. When the instruction is interrupted, CommandAboarted is valid;
++
++CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
++
++The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
++
++**Timing diagram**
++
++After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
++
++(% style="text-align:center" %)
++[[image:1761033264625-188.png]]
++
++
++After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
++
++(% style="text-align:center" %)
++[[image:1761033334729-116.png]]
++
++=== **MC _ MOVEABSRELPP** ===
++
++MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
++
++[[image:1761034254689-443.png]]
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
++**Pulse**
++
++**Expansion**
++)))
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="13" %)(((
++MC _ MOVEA
++
++BSRELPP
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
++|(% rowspan="13" %)(((
++MC _ MOVE
++
++ABSRELPP
++)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
++|Mode|INT|No|0,1|(((
++1: Absolute mode.
++
++1: Relative mode
++)))
++|Position|LREAL|No|(((
++-999999999.999999
++
++999999999.999999
++)))|Target location
++|Velocity|LREAL|No|（0,999999999.999999]|Velocity
++|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
++|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
++|Axis|WORD|No|[0,65535]|Axis number
++|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Valid flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
++|Error|BOOL|Yes|TRUE/FALSE|Error or not
++|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
++
++**Function**
++
++* This command is used to control the EtherCAT bus contour axis to realize the absolute/relative positioning function in contour position mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid.
++* Contour Position Mode requires the following PDOs:
++
++0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
++
++0x1A00: 0x6061, 0x6064, 0x6041
++
++**Function description**
++
++* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
++* At the rising edge of the Execute input, the instruction latches the input parameters on the left side such as Position and Velocity, triggers the absolute/relative positioning function, and switches the PLCOpen state machine of the axis to the DiscreteMotion state;
++* When Mode = 0, the positioning Mode is absolute positioning Mode, and Position is used to set the target Position of absolute positioning. If the axis Mode is configured as rotation Mode, the target Position is positioned according to the shortest distance;
++* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
++* Interrupt
++
++When this instruction is valid in PLCOpen, the axis will be in the Discretemotion state. Other outline mode instructions that can make the axis in Discretemotion or comply with PLCOpen state machine switching can interrupt this instruction. CommandAboarted is valid when the instruction is interrupted. The instruction of periodic synchronization mode cannot be called, otherwise a fault will be reported;
++
++CommandAboarted is valid when the MC _ Power instruction is invalid when Execute = TRUE and the Busy signal is valid causes the axis to be de-enabled.
++
++**Timing diagram**
++
++
++(% style="text-align:center" %)
++[[image:1761034304535-743.png]]
++
++=== **MC _ MOVEVELOCITYPV** ===
++
++MC _ MOVEVELOCITYPV-Contour Speed Command
++
++[[image:1761034415972-645.png]]
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
++**Index**
++
++**Modification**
++)))|(((
++**Pulse**
++
++**Expansion**
++)))
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="11" %)(((
++MC _ MOVEVELO
++
++CITYPV
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|(((
++**Pin**
++
++**type**
++)))|**Parameter**|(((
++**Variable**
++
++**Type**
++)))|(((
++**Can you**
++
++**Is empty**
++)))|**Range**|**Description**
++|(% rowspan="11" %)(((
++MC _ MOVEVE
++
++LOCITYPV
++)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
++|Velocity|LREAL|No|(((
++-999999999.999999
++
++999999999.999999
++)))|Velocity
++|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
++|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
++|Axis|WORD|No|[0,65535]|Axis number
++|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Valid flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
++|Error|BOOL|Yes|TRUE/FALSE|Error or not
++|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
++
++**Function**
++
++* This command is used to realize the continuous motion function of EtherCAT bus contour axis in contour speed mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid;
++* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
++* The following PDOs are required for the profile speed mode:
++
++0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
++
++0x1A00: 0x6061, 0x606c, 0x6041
++
++**Function description**
++
++* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
++* When Execute = TRUE, the instruction latches the input parameters on the left side such as Velocity and Acceleration, the axis continuously runs according to the target speed set by Velocity, and switches the PLCOpen state machine of the axis to the ContinuousMotion state.
++
++**Timing diagram**
++
++
++(% style="text-align:center" %)
++[[image:1761034458765-139.png]]
++
++=== **MC _ TORQUECONTROLPT** ===
++
++MC _ TORQUECONTROLPT-Contour torque control command
++
++[[image:1761034544967-630.png]]
++
++**Device used (only a single device can be used, and device splicing and Index are not supported)**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
++|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="11" %)(((
++MC _ TORQUE
++
++CONTROLPT
++)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
++|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
++|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
++|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
++|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
++|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
++
++**Notes for using devices**
++
++* LC and HSC are signed 32-bit data types;
++* T, C, D, R and SD are signed 16-bit data types.
++
++**Variable type used**
++
++|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
++|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
++|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
++|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
++|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
++|Axis|WORD|No|[0,65535]|Axis number
++|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
++|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
++|Active|BOOL|Yes|TRUE/FALSE|Valid flag
++|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
++|Error|BOOL|Yes|TRUE/FALSE|Error or not
++|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
++
++**Function**
++
++* This instruction is used to control the EtherCAT bus profile axis to realize the absolute/relative positioning function in profile position mode. In the basic settings of axis configuration, the profile mode option needs to be checked before it can be called, and the rising edge is valid;
++* This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid and the virtual axis mode is not supported;
++* Profile torque mode needs to be configured with the following PDOs:
++
++0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
++
++0x1A00: 0x6061, 0x6077, 0x6041
++
++**Function description**
++
++* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
++* This instruction uses the driver synchronous torque mode to realize the torque control function;
++* On the rising edge of the instruction, the function block latches the input parameters of TarTorque, TorqueSlope and MaxVelocity, and the axis is in the ContinuousMotion state and performs torque motion;
++
++TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
++
++TorqueRamp: Torque ramp, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded.
++
++* Speed control in torque mode
++
++For servo drives, if 0x607f is mapped in the axis parameter, this instruction limits the maximum speed of the servo motor by 0x607f, if 0x607f is not mapped, the speed limit is invalid;
++
++On the rising edge of Execute, the instruction converts the speed limit set by Velocity into pulse units and writes it into 0x607f through PDO;
++
++When the torque instruction is interrupted by others, the maximum speed of the axis will be limited by the "Maximum speed" in the configuration interface;
++
++For third-party drives, Velocity can only be used as a speed limit under the following conditions:
++
++The maximum speed of the servomotor can be limited by 0x607F;
++
++0x607F can be configured into the PDO;
++
++The unit of 0x607F is pulse unit, non-speed unit.
++
++* Stop control on torque mode
++
++In the torque mode, the MC _ Stop instruction is called to perform the shut down, and after receiving the Stop instruction, the driver switches to the synchronous position mode, and performs deceleration according to the deceleration set by the Stop instruction.
++
++* Interrupt
++
++In PLCOpen, when the instruction is valid, the axis will be in the Continuous Motion state. Other instructions that can make the axis in Discrete motion or comply with PLCOpen state machine switching can interrupt the instruction. When the instruction is interrupted, CommandAboarted is valid;
++
++CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
++
++The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
++
++**Timing diagram**
++
++(% style="text-align:center" %)
++[[image:1761034615747-763.png]]
++
  == **SDO instruction** ==
  ----
@@ -4222,7 +4222,7 @@
  ----
  (% style="text-align:center" %)
--[[image:1709016272018-406.png||height="669" width="631"]]
++[[image:123.png||height="659" width="621"]]
  === **Axis group motion control status diagram** ===
@@ -4229,7 +4229,7 @@
  ----
  (% style="text-align:center" %)
--[[image:1709016323709-202.png]]
++[[image:234.png||height="405" width="669"]]
  === **Arc mode description** ===
@@ -4243,22 +4243,20 @@
  Features
  )))|(((
--The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
--
--
++The arc path consists of the starting point, auxiliary points, and ending point.
  )))|(((
--The auxiliary point is defined as the center of the motion trajectory, so the auxiliary point should be on the perpendicular line connecting the starting point and the ending point.
++The arc path consists of the starting point, the center point, and theending point.
  )))|(((
--According to the right-hand grip rule, the ending point and the vector perpendicular to the plane of the circle are defined, and the length of the vector corresponds to the radius of the circle.
++The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
  The direction of the vector determines the direction of CW and CCW circles.
--The major arc and minor arc are determined by path choice.
++The vector length is the radius of the arc.
  )))
  |(((
@@ -4508,6 +4508,7 @@
  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
++|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
  |(% colspan="3" %)**Error Stop**
  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
  |(% colspan="3" %)**Error from servo**
@@ -4531,6 +4531,25 @@
  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
++|0x00600014|(((
++MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
++
++OVER_LIMIT
++)))|Pulse shaft HOME Velocity over limit
++|0x00600015|(((
++MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
++
++OVER_LIMIT
++)))|Pulse shaft HOME Acceleration over limit
++|0x00600020|(((
++MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
++
++NOTMAP
++)))|(((
++There is no required PDO for the mode
++
++corresponding to mode switching.
++)))
  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
  |(% colspan="3" %)**Axis’s error**
  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error

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