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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 11.1
edited by Iris
on 2026/03/30 11:39
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  
... ... @@ -2204,18 +2204,6 @@
2204 2204  
2205 2205  
2206 2206  
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 -
2217 -
2218 -
2219 2219  == **Management functions of axis group motion control** ==
2220 2220  
2221 2221  ----
... ... @@ -3751,9 +3751,9 @@
3751 3751  
3752 3752  === **MC _ MOVEVELOCITY _ CSV** ===
3753 3753  
3754 -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
3755 3755  
3756 -[[image:1761032781939-478.png]]
3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3757 3757  
3758 3758  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.
3759 3759  
... ... @@ -3829,11 +3829,11 @@
3829 3829  
3830 3830  **Function**
3831 3831  
3832 -* 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.
3833 3833  * 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;
3834 3834  * 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;
3835 -* 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;
3836 -* 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.
3837 3837  
3838 3838  **Error code**
3839 3839  
... ... @@ -3847,15 +3847,16 @@
3847 3847  
3848 3848  **Timing diagram**
3849 3849  
3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3850 3850  
3851 -(% style="text-align:center" %)
3852 -[[image:1761032845559-339.png||height="306" width="520"]]
3853 3853  
3854 -=== **MC _ SYNCMOVEVELOCITY** ===
3855 3855  
3838 +
3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840 +
3856 3856  MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3857 3857  
3858 -[[image:1761032974104-584.png]]
3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3859 3859  
3860 3860  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.
3861 3861  
... ... @@ -3889,11 +3889,7 @@
3889 3889  
3890 3890  VELOCITY
3891 3891  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3892 -|Velocity|LREAL|No|(((
3893 -[-999999999.999999,99999
3894 -
3895 -9999.999999]
3896 -)))|Setting velocity
3877 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3897 3897  |Axis|(((
3898 3898  WORD
3899 3899  
... ... @@ -3927,14 +3927,16 @@
3927 3927  
3928 3928  **Timing diagram**
3929 3929  
3930 -(% style="text-align:center" %)
3931 -[[image:1761033004563-270.png]]
3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3932 3932  
3933 -=== **MC _ SETTORQUE** ===
3934 3934  
3914 +
3915 +
3916 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917 +
3935 3935  MC _ SETTORQUE-Synchronous torque instruction
3936 3936  
3937 -[[image:1761033083623-162.png]]
3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3938 3938  
3939 3939  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3940 3940  
... ... @@ -4001,12 +4001,27 @@
4001 4001  
4002 4002  * This function block is not available when the axis does not exist.
4003 4003  
4004 -=== **MC _ TORQUECONTROL** ===
4005 4005  
4006 -MC _ TORQUECONTROL-Torque control command
4007 4007  
4008 -[[image:1761033167971-496.png||height="206" width="262"]]
4009 4009  
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 +
4010 4010  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4011 4011  
4012 4012  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
... ... @@ -4070,6 +4070,8 @@
4070 4070  
4071 4071  * If VD3E is used, the value of startup parameter 2001:9 is 2;
4072 4072  
4071 +
4072 +
4073 4073  **Function description**
4074 4074  
4075 4075  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
... ... @@ -4112,302 +4112,16 @@
4112 4112  
4113 4113  After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4114 4114  
4115 -(% style="text-align:center" %)
4116 -[[image:1761033264625-188.png]]
4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4117 4117  
4118 -
4119 4119  After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4120 4120  
4121 -(% style="text-align:center" %)
4122 -[[image:1761033334729-116.png]]
4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4123 4123  
4124 -=== **MC _ MOVEABSRELPP** ===
4121 +== ==
4125 4125  
4126 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4123 +== ==
4127 4127  
4128 -[[image:1761034254689-443.png]]
4129 -
4130 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4131 -
4132 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4133 -**Pulse**
4134 -
4135 -**Expansion**
4136 -)))
4137 -|**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**
4138 -|(% rowspan="13" %)(((
4139 -MC _ MOVEA
4140 -
4141 -BSRELPP
4142 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4143 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4144 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4145 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4146 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4147 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4148 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4149 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4150 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4151 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4152 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4153 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4154 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4155 -
4156 -**Notes for using devices**
4157 -
4158 -* LC and HSC are signed 32-bit data types;
4159 -* T, C, D, R and SD are signed 16-bit data types.
4160 -
4161 -**Variable type used**
4162 -
4163 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4164 -|(% rowspan="13" %)(((
4165 -MC _ MOVE
4166 -
4167 -ABSRELPP
4168 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4169 -|Mode|INT|No|0,1|(((
4170 -1: Absolute mode.
4171 -
4172 -1: Relative mode
4173 -)))
4174 -|Position|LREAL|No|(((
4175 --999999999.999999
4176 -
4177 -999999999.999999
4178 -)))|Target location
4179 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4180 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4181 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4182 -|Axis|WORD|No|[0,65535]|Axis number
4183 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4184 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4185 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4186 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4187 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4188 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4189 -
4190 -**Function**
4191 -
4192 -* 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.
4193 -* Contour Position Mode requires the following PDOs:
4194 -
4195 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4196 -
4197 -0x1A00: 0x6061, 0x6064, 0x6041
4198 -
4199 -**Function description**
4200 -
4201 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4202 -* 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;
4203 -* 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;
4204 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4205 -* Interrupt
4206 -
4207 -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;
4208 -
4209 -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.
4210 -
4211 -**Timing diagram**
4212 -
4213 -
4214 -(% style="text-align:center" %)
4215 -[[image:1761034304535-743.png]]
4216 -
4217 -=== **MC _ MOVEVELOCITYPV** ===
4218 -
4219 -MC _ MOVEVELOCITYPV-Contour Speed Command
4220 -
4221 -[[image:1761034415972-645.png]]
4222 -
4223 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4224 -
4225 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4226 -**Index**
4227 -
4228 -**Modification**
4229 -)))|(((
4230 -**Pulse**
4231 -
4232 -**Expansion**
4233 -)))
4234 -|**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**
4235 -|(% rowspan="11" %)(((
4236 -MC _ MOVEVELO
4237 -
4238 -CITYPV
4239 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4241 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4242 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4243 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4244 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4245 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4246 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4247 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4248 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4249 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4250 -
4251 -**Notes for using devices**
4252 -
4253 -* LC and HSC are signed 32-bit data types;
4254 -* T, C, D, R and SD are signed 16-bit data types.
4255 -
4256 -**Variable type used**
4257 -
4258 -|**Instruction**|(((
4259 -**Pin**
4260 -
4261 -**type**
4262 -)))|**Parameter**|(((
4263 -**Variable**
4264 -
4265 -**Type**
4266 -)))|(((
4267 -**Can you**
4268 -
4269 -**Is empty**
4270 -)))|**Range**|**Description**
4271 -|(% rowspan="11" %)(((
4272 -MC _ MOVEVE
4273 -
4274 -LOCITYPV
4275 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4276 -|Velocity|LREAL|No|(((
4277 --999999999.999999
4278 -
4279 -999999999.999999
4280 -)))|Velocity
4281 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4282 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4283 -|Axis|WORD|No|[0,65535]|Axis number
4284 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4285 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4286 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4287 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4288 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4289 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4290 -
4291 -**Function**
4292 -
4293 -* 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;
4294 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4295 -* The following PDOs are required for the profile speed mode:
4296 -
4297 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4298 -
4299 -0x1A00: 0x6061, 0x606c, 0x6041
4300 -
4301 -**Function description**
4302 -
4303 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4304 -* 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.
4305 -
4306 -**Timing diagram**
4307 -
4308 -
4309 -(% style="text-align:center" %)
4310 -[[image:1761034458765-139.png]]
4311 -
4312 -=== **MC _ TORQUECONTROLPT** ===
4313 -
4314 -MC _ TORQUECONTROLPT-Contour torque control command
4315 -
4316 -[[image:1761034544967-630.png]]
4317 -
4318 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4319 -
4320 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4321 -|**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**
4322 -|(% rowspan="11" %)(((
4323 -MC _ TORQUE
4324 -
4325 -CONTROLPT
4326 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4328 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4329 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4330 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4331 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4332 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4333 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4334 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4335 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4336 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4337 -
4338 -**Notes for using devices**
4339 -
4340 -* LC and HSC are signed 32-bit data types;
4341 -* T, C, D, R and SD are signed 16-bit data types.
4342 -
4343 -**Variable type used**
4344 -
4345 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4346 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4347 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4348 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4349 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4350 -|Axis|WORD|No|[0,65535]|Axis number
4351 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4352 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4353 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4354 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4355 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4356 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4357 -
4358 -**Function**
4359 -
4360 -* 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;
4361 -* 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;
4362 -* Profile torque mode needs to be configured with the following PDOs:
4363 -
4364 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4365 -
4366 -0x1A00: 0x6061, 0x6077, 0x6041
4367 -
4368 -**Function description**
4369 -
4370 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4371 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4372 -* 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;
4373 -
4374 -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;
4375 -
4376 -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.
4377 -
4378 -* Speed control in torque mode
4379 -
4380 -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;
4381 -
4382 -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;
4383 -
4384 -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;
4385 -
4386 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4387 -
4388 -The maximum speed of the servomotor can be limited by 0x607F;
4389 -
4390 -0x607F can be configured into the PDO;
4391 -
4392 -The unit of 0x607F is pulse unit, non-speed unit.
4393 -
4394 -* Stop control on torque mode
4395 -
4396 -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.
4397 -
4398 -* Interrupt
4399 -
4400 -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;
4401 -
4402 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4403 -
4404 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4405 -
4406 -**Timing diagram**
4407 -
4408 -(% style="text-align:center" %)
4409 -[[image:1761034615747-763.png]]
4410 -
4411 4411  == **SDO instruction** ==
4412 4412  
4413 4413  ----
... ... @@ -4898,41 +4898,16 @@
4898 4898  ----
4899 4899  
4900 4900  (% style="text-align:center" %)
4901 -[[image:123.png||height="659" width="621"]]
4615 +[[image:1709016272018-406.png||height="669" width="631"]]
4902 4902  
4903 -**✎Note**: Continuous line arrows indicate transitions via command. Dashed line arrows indicate automatic transitions, which occur when a command on an axis ends or a related system transition occurs (e.g., a related error).
4904 -
4905 -① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4906 -
4907 -② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4908 -
4909 -③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4910 -
4911 -④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4912 -
4913 -⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4914 -
4915 -⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4916 -
4917 4917  === **Axis group motion control status diagram** ===
4918 4918  
4919 4919  ----
4920 4920  
4921 4921  (% style="text-align:center" %)
4922 -[[image:234.png||height="405" width="669"]]
4622 +[[image:1709016323709-202.png]]
4923 4923  
4924 -**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4925 4925  
4926 -① Applies to all non-administrative (i.e., motion control) function blocks.
4927 -
4928 -② In the GroupErrorStop or GroupStopping state, all function blocks can be invoked, although they are not executed (except that MC_GroupReset is executed in the GroupErrorStop state and any other errors are generated). In exceptional cases, GroupErrorStop or GroupStopping will transition to GroupStandby or GroupErrorStop accordingly.
4929 -
4930 -③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4931 -
4932 -④ The state transition is available if the last axis is removed from the axis group.
4933 -
4934 -⑤ The transition is available when the axis group is non-empty.
4935 -
4936 4936  === **Arc mode description** ===
4937 4937  
4938 4938  ----
... ... @@ -4944,20 +4944,22 @@
4944 4944  
4945 4945  Features
4946 4946  )))|(((
4947 -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 +
4948 4948  )))|(((
4949 4949  
4950 4950  
4951 -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.
4952 4952  
4953 4953  
4954 4954  
4955 4955  )))|(((
4956 -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.
4957 4957  
4958 4958  The direction of the vector determines the direction of CW and CCW circles.
4959 4959  
4960 -The vector length is the radius of the arc.
4651 +The major arc and minor arc are determined by path choice.
4961 4961  )))
4962 4962  |(((
4963 4963  
... ... @@ -5207,7 +5207,6 @@
5207 5207  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5208 5208  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5209 5209  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5210 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5211 5211  |(% colspan="3" %)**Error Stop**
5212 5212  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5213 5213  |(% colspan="3" %)**Error from servo**
... ... @@ -5231,25 +5231,6 @@
5231 5231  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5232 5232  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5233 5233  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5234 -|0x00600014|(((
5235 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5236 -
5237 -OVER_LIMIT
5238 -)))|Pulse shaft HOME Velocity over limit
5239 -|0x00600015|(((
5240 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5241 -
5242 -OVER_LIMIT
5243 -)))|Pulse shaft HOME Acceleration over limit
5244 -|0x00600020|(((
5245 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5246 -
5247 -NOTMAP
5248 -)))|(((
5249 -There is no required PDO for the mode
5250 -
5251 -corresponding to mode switching.
5252 -)))
5253 5253  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5254 5254  |(% colspan="3" %)**Axis’s error**
5255 5255  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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