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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 10.1
edited by Iris
on 2026/03/28 17:35
Change comment: There is no comment for this version
To version 2.1
edited by Iris
on 2025/10/21 15:41
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -814,9 +814,6 @@
814 814  Precautions
815 815  
816 816  * This function block is not available when the axis does not exist.
817 -* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
818 -* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
819 -* In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
820 820  
821 821  Error code
822 822  
... ... @@ -1500,7 +1500,7 @@
1500 1500  Variable type used
1501 1501  
1502 1502  |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 -|(% colspan="1" rowspan="11" %)(((
1500 +|(% colspan="1" rowspan="10" %)(((
1504 1504  
1505 1505  
1506 1506  
... ... @@ -1543,7 +1543,7 @@
1543 1543  
1544 1544  Others: Reserved
1545 1545  )))
1546 -|(% colspan="1" rowspan="6" %)(((
1543 +|(% colspan="1" rowspan="5" %)(((
1547 1547  
1548 1548  
1549 1549  
... ... @@ -1551,7 +1551,6 @@
1551 1551  )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1552 1552  |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1553 1553  |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1554 -|ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1555 1555  |Error|BOOL|Yes| |Whether there is an error or not
1556 1556  |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1557 1557  
... ... @@ -1626,9 +1626,9 @@
1626 1626  MC_SAVECAMTABLE
1627 1627  )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1628 1628  |CamTableID|INT|No|-|Cam tableID
1629 -|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1630 -|BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1631 -|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abort flag
1625 +|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 +|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 +|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1632 1632  |Error|BOOL|Yes|-|Whether there is an error or not
1633 1633  |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1634 1634  
... ... @@ -2204,17 +2204,6 @@
2204 2204  
2205 2205  
2206 2206  
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 -
2217 -
2218 2218  == **Management functions of axis group motion control** ==
2219 2219  
2220 2220  ----
... ... @@ -3750,9 +3750,9 @@
3750 3750  
3751 3751  === **MC _ MOVEVELOCITY _ CSV** ===
3752 3752  
3753 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3738 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps1.png]]MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3754 3754  
3755 -[[image:1761032781939-478.png]]
3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3756 3756  
3757 3757  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.
3758 3758  
... ... @@ -3828,11 +3828,11 @@
3828 3828  
3829 3829  **Function**
3830 3830  
3831 -* The MC_ MOVEVELOCITY_CSV 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.
3816 +* 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.
3832 3832  * 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;
3833 3833  * 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;
3834 -* The MC_ MOVEVELOCITY_CSV 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;
3835 -* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3819 +* 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;
3820 +* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3836 3836  
3837 3837  **Error code**
3838 3838  
... ... @@ -3846,15 +3846,16 @@
3846 3846  
3847 3847  **Timing diagram**
3848 3848  
3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3849 3849  
3850 -(% style="text-align:center" %)
3851 -[[image:1761032845559-339.png||height="306" width="520"]]
3852 3852  
3853 -=== **MC _ SYNCMOVEVELOCITY** ===
3854 3854  
3838 +
3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840 +
3855 3855  MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3856 3856  
3857 -[[image:1761032974104-584.png]]
3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3858 3858  
3859 3859  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.
3860 3860  
... ... @@ -3922,14 +3922,16 @@
3922 3922  
3923 3923  **Timing diagram**
3924 3924  
3925 -(% style="text-align:center" %)
3926 -[[image:1761033004563-270.png]]
3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3927 3927  
3928 -=== **MC _ SETTORQUE** ===
3929 3929  
3914 +
3915 +
3916 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917 +
3930 3930  MC _ SETTORQUE-Synchronous torque instruction
3931 3931  
3932 -[[image:1761033083623-162.png]]
3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3933 3933  
3934 3934  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3935 3935  
... ... @@ -3996,12 +3996,27 @@
3996 3996  
3997 3997  * This function block is not available when the axis does not exist.
3998 3998  
3999 -=== **MC _ TORQUECONTROL** ===
4000 4000  
4001 -MC _ TORQUECONTROL-Torque control command
4002 4002  
4003 -[[image:1761033167971-496.png||height="206" width="262"]]
4004 4004  
3990 +
3991 +
3992 +
3993 +
3994 +
3995 +
3996 +
3997 +
3998 +
3999 +
4000 +
4001 +
4002 +**8.7.7 MC _ TORQUECONTROL**
4003 +
4004 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps9.png]]MC _ TORQUECONTROL-Torque control command
4005 +
4006 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps10.jpg]]
4007 +
4005 4005  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4006 4006  
4007 4007  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
... ... @@ -4065,6 +4065,8 @@
4065 4065  
4066 4066  * If VD3E is used, the value of startup parameter 2001:9 is 2;
4067 4067  
4071 +
4072 +
4068 4068  **Function description**
4069 4069  
4070 4070  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
... ... @@ -4107,302 +4107,16 @@
4107 4107  
4108 4108  After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4109 4109  
4110 -(% style="text-align:center" %)
4111 -[[image:1761033264625-188.png]]
4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4112 4112  
4113 -
4114 4114  After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4115 4115  
4116 -(% style="text-align:center" %)
4117 -[[image:1761033334729-116.png]]
4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4118 4118  
4119 -=== **MC _ MOVEABSRELPP** ===
4121 +== ==
4120 4120  
4121 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4123 +== ==
4122 4122  
4123 -[[image:1761034254689-443.png]]
4124 -
4125 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4126 -
4127 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4128 -**Pulse**
4129 -
4130 -**Expansion**
4131 -)))
4132 -|**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**
4133 -|(% rowspan="13" %)(((
4134 -MC _ MOVEA
4135 -
4136 -BSRELPP
4137 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4139 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4140 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4141 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4142 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4143 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4144 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4147 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4148 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4149 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4150 -
4151 -**Notes for using devices**
4152 -
4153 -* LC and HSC are signed 32-bit data types;
4154 -* T, C, D, R and SD are signed 16-bit data types.
4155 -
4156 -**Variable type used**
4157 -
4158 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4159 -|(% rowspan="13" %)(((
4160 -MC _ MOVE
4161 -
4162 -ABSRELPP
4163 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4164 -|Mode|INT|No|0,1|(((
4165 -1: Absolute mode.
4166 -
4167 -1: Relative mode
4168 -)))
4169 -|Position|LREAL|No|(((
4170 --999999999.999999
4171 -
4172 -999999999.999999
4173 -)))|Target location
4174 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4175 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4176 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4177 -|Axis|WORD|No|[0,65535]|Axis number
4178 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4179 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4180 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4181 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4182 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4183 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4184 -
4185 -**Function**
4186 -
4187 -* 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.
4188 -* Contour Position Mode requires the following PDOs:
4189 -
4190 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4191 -
4192 -0x1A00: 0x6061, 0x6064, 0x6041
4193 -
4194 -**Function description**
4195 -
4196 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4197 -* 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;
4198 -* 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;
4199 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4200 -* Interrupt
4201 -
4202 -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;
4203 -
4204 -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.
4205 -
4206 -**Timing diagram**
4207 -
4208 -
4209 -(% style="text-align:center" %)
4210 -[[image:1761034304535-743.png]]
4211 -
4212 -=== **MC _ MOVEVELOCITYPV** ===
4213 -
4214 -MC _ MOVEVELOCITYPV-Contour Speed Command
4215 -
4216 -[[image:1761034415972-645.png]]
4217 -
4218 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4219 -
4220 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4221 -**Index**
4222 -
4223 -**Modification**
4224 -)))|(((
4225 -**Pulse**
4226 -
4227 -**Expansion**
4228 -)))
4229 -|**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**
4230 -|(% rowspan="11" %)(((
4231 -MC _ MOVEVELO
4232 -
4233 -CITYPV
4234 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4236 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4237 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4238 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4239 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4242 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4243 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4244 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4245 -
4246 -**Notes for using devices**
4247 -
4248 -* LC and HSC are signed 32-bit data types;
4249 -* T, C, D, R and SD are signed 16-bit data types.
4250 -
4251 -**Variable type used**
4252 -
4253 -|**Instruction**|(((
4254 -**Pin**
4255 -
4256 -**type**
4257 -)))|**Parameter**|(((
4258 -**Variable**
4259 -
4260 -**Type**
4261 -)))|(((
4262 -**Can you**
4263 -
4264 -**Is empty**
4265 -)))|**Range**|**Description**
4266 -|(% rowspan="11" %)(((
4267 -MC _ MOVEVE
4268 -
4269 -LOCITYPV
4270 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4271 -|Velocity|LREAL|No|(((
4272 --999999999.999999
4273 -
4274 -999999999.999999
4275 -)))|Velocity
4276 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4277 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4278 -|Axis|WORD|No|[0,65535]|Axis number
4279 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4280 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4281 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4282 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4283 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4284 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4285 -
4286 -**Function**
4287 -
4288 -* 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;
4289 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4290 -* The following PDOs are required for the profile speed mode:
4291 -
4292 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4293 -
4294 -0x1A00: 0x6061, 0x606c, 0x6041
4295 -
4296 -**Function description**
4297 -
4298 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4299 -* 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.
4300 -
4301 -**Timing diagram**
4302 -
4303 -
4304 -(% style="text-align:center" %)
4305 -[[image:1761034458765-139.png]]
4306 -
4307 -=== **MC _ TORQUECONTROLPT** ===
4308 -
4309 -MC _ TORQUECONTROLPT-Contour torque control command
4310 -
4311 -[[image:1761034544967-630.png]]
4312 -
4313 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4314 -
4315 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4316 -|**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**
4317 -|(% rowspan="11" %)(((
4318 -MC _ TORQUE
4319 -
4320 -CONTROLPT
4321 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4323 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4324 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4325 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4326 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4329 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4330 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4331 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4332 -
4333 -**Notes for using devices**
4334 -
4335 -* LC and HSC are signed 32-bit data types;
4336 -* T, C, D, R and SD are signed 16-bit data types.
4337 -
4338 -**Variable type used**
4339 -
4340 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4341 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4342 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4343 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4344 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4345 -|Axis|WORD|No|[0,65535]|Axis number
4346 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4347 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4348 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4349 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4350 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4351 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4352 -
4353 -**Function**
4354 -
4355 -* 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;
4356 -* 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;
4357 -* Profile torque mode needs to be configured with the following PDOs:
4358 -
4359 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4360 -
4361 -0x1A00: 0x6061, 0x6077, 0x6041
4362 -
4363 -**Function description**
4364 -
4365 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4366 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4367 -* 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;
4368 -
4369 -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;
4370 -
4371 -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.
4372 -
4373 -* Speed control in torque mode
4374 -
4375 -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;
4376 -
4377 -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;
4378 -
4379 -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;
4380 -
4381 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4382 -
4383 -The maximum speed of the servomotor can be limited by 0x607F;
4384 -
4385 -0x607F can be configured into the PDO;
4386 -
4387 -The unit of 0x607F is pulse unit, non-speed unit.
4388 -
4389 -* Stop control on torque mode
4390 -
4391 -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.
4392 -
4393 -* Interrupt
4394 -
4395 -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;
4396 -
4397 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4398 -
4399 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4400 -
4401 -**Timing diagram**
4402 -
4403 -(% style="text-align:center" %)
4404 -[[image:1761034615747-763.png]]
4405 -
4406 4406  == **SDO instruction** ==
4407 4407  
4408 4408  ----
... ... @@ -4893,7 +4893,7 @@
4893 4893  ----
4894 4894  
4895 4895  (% style="text-align:center" %)
4896 -[[image:123.png||height="659" width="621"]]
4615 +[[image:1709016272018-406.png||height="669" width="631"]]
4897 4897  
4898 4898  === **Axis group motion control status diagram** ===
4899 4899  
... ... @@ -4900,7 +4900,7 @@
4900 4900  ----
4901 4901  
4902 4902  (% style="text-align:center" %)
4903 -[[image:234.png||height="405" width="669"]]
4622 +[[image:1709016323709-202.png]]
4904 4904  
4905 4905  
4906 4906  === **Arc mode description** ===
... ... @@ -4914,20 +4914,22 @@
4914 4914  
4915 4915  Features
4916 4916  )))|(((
4917 -The arc path consists of the starting point, auxiliary points, and ending point.
4636 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4637 +
4638 +
4918 4918  )))|(((
4919 4919  
4920 4920  
4921 -The arc path consists of the starting point, the center point, and theending point.
4642 +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.
4922 4922  
4923 4923  
4924 4924  
4925 4925  )))|(((
4926 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4647 +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.
4927 4927  
4928 4928  The direction of the vector determines the direction of CW and CCW circles.
4929 4929  
4930 -The vector length is the radius of the arc.
4651 +The major arc and minor arc are determined by path choice.
4931 4931  )))
4932 4932  |(((
4933 4933  
... ... @@ -5177,7 +5177,6 @@
5177 5177  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5178 5178  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5179 5179  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5180 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5181 5181  |(% colspan="3" %)**Error Stop**
5182 5182  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5183 5183  |(% colspan="3" %)**Error from servo**
... ... @@ -5201,25 +5201,6 @@
5201 5201  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5202 5202  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5203 5203  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5204 -|0x00600014|(((
5205 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5206 -
5207 -OVER_LIMIT
5208 -)))|Pulse shaft HOME Velocity over limit
5209 -|0x00600015|(((
5210 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5211 -
5212 -OVER_LIMIT
5213 -)))|Pulse shaft HOME Acceleration over limit
5214 -|0x00600020|(((
5215 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5216 -
5217 -NOTMAP
5218 -)))|(((
5219 -There is no required PDO for the mode
5220 -
5221 -corresponding to mode switching.
5222 -)))
5223 5223  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5224 5224  |(% colspan="3" %)**Axis’s error**
5225 5225  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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