Changes for page 08 Motion Control

Summary

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• Attachments (0 modified, 0 added, 17 removed)
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Details

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Content

...	...	@@ -15,6 +15,8 @@
15	15
16	16	Device used (only a single device can be used, and device splicing and offset are not supported)
17	17
	18	+
	19	+
18	18	|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
19	19	|**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**
20	20	|(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
...	...	@@ -34,19 +34,20 @@
34	34
35	35	Variable Type Used
36	36
37		-|**Instruction**|**Pin type**|**Variable type**|**Variable type**|**Can be empty or not**|**Range**|**Description**
38		-|(% rowspan="8" %)MC_POWER|(% rowspan="4" %)Input|Enable|BOOL|No|TRUE/FALSE|Enable
39		-|EnablePositive|BOOL|No|TRUE/FALSE|Allow movement in the positive direction
40		-|EnableNegative|BOOL|No|TRUE/FALSE|Allow movement in negative direction
41		-|Axis|WORD|No|[0,65535]|Axis number
42		-|(% rowspan="4" %)Output|Status|BOOL|Yes|TRUE/FALSE|Enable status
43		-|Valid|BOOL|Yes|TRUE/FALSE|Data valid or not
44		-|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
45		-|ErrorID|DWORD|Yes|-|Error code (See [8.11 Error code comparison table])
46	46
	40	+|=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
	41	+|(% colspan="1" rowspan="8" %)MC_POWER|Enable|BOOL|No|TRUE/FALSE|Enable
	42	+|EnablePositive|BOOL|No|TRUE/FALSE|Allow motion in the positive direction
	43	+|EnableNegative|BOOL|No|TRUE/FALSE|Allow motion in negative direction
	44	+|Axis|WORD|No|0 to 65535|Axis number
	45	+|Status|BOOL|No|TRUE/FALSE|Enable status
	46	+|Valid|BOOL|No|TRUE/FALSE|Data valid or not
	47	+|Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
	48	+|ErrorID|DWORD|No|-|[Error code]
	49	+
47	47	Function
48	48
49		-* This funcion block must be enabled if an axis is to participate in motion.
	52	+* This function block must be enabled if an axis is to participate in motion.
50	50	* The function is as follows:
51	51
52	52	1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
...	...	@@ -811,9 +811,6 @@
811	811	Precautions
812	812
813	813	* This function block is not available when the axis does not exist.
814		-* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
815		-* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
816		-* In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
817	817
818	818	Error code
819	819
...	...	@@ -1497,7 +1497,7 @@
1497	1497	Variable type used
1498	1498
1499	1499	|=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1500		-|(% colspan="1" rowspan="11" %)(((
	1500	+|(% colspan="1" rowspan="10" %)(((
1501	1501
1502	1502
1503	1503
...	...	@@ -1540,7 +1540,7 @@
1540	1540
1541	1541	Others: Reserved
1542	1542	)))
1543		-|(% colspan="1" rowspan="6" %)(((
	1543	+|(% colspan="1" rowspan="5" %)(((
1544	1544
1545	1545
1546	1546
...	...	@@ -1548,7 +1548,6 @@
1548	1548	)))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1549	1549	|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1550	1550	|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1551		-|ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1552	1552	|Error|BOOL|Yes| |Whether there is an error or not
1553	1553	|ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1554	1554
...	...	@@ -1623,9 +1623,9 @@
1623	1623	MC_SAVECAMTABLE
1624	1624	)))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1625	1625	|CamTableID|INT|No|-|Cam tableID
1626		-|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1627		-|BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1628		-|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
1629	1629	|Error|BOOL|Yes|-|Whether there is an error or not
1630	1630	|ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1631	1631
...	...	@@ -2201,19 +2201,6 @@
2201	2201
2202	2202
2203	2203
2204		-
2205		-
2206		-
2207		-
2208		-
2209		-
2210		-
2211		-
2212		-
2213		-
2214		-
2215		-
2216		-
2217	2217	== **Management functions of axis group motion control** ==
2218	2218
2219	2219	----
...	...	@@ -3749,9 +3749,9 @@
3749	3749
3750	3750	=== **MC _ MOVEVELOCITY _ CSV** ===
3751	3751
3752		-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
3753	3753
3754		-[[image:1761032781939-478.png]]
	3740	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3755	3755
3756	3756	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.
3757	3757
...	...	@@ -3827,11 +3827,11 @@
3827	3827
3828	3828	**Function**
3829	3829
3830		-* 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.
3831	3831	* 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;
3832	3832	* 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;
3833		-* 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;
3834		-* 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.
3835	3835
3836	3836	**Error code**
3837	3837
...	...	@@ -3845,15 +3845,16 @@
3845	3845
3846	3846	**Timing diagram**
3847	3847
	3834	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3848	3848
3849		-(% style="text-align:center" %)
3850		-[[image:1761032845559-339.png||height="306" width="520"]]
3851	3851
3852		-=== **MC _ SYNCMOVEVELOCITY** ===
3853	3853
	3838	+
	3839	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
	3840	+
3854	3854	MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3855	3855
3856		-[[image:1761032974104-584.png]]
	3843	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3857	3857
3858	3858	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.
3859	3859
...	...	@@ -3887,11 +3887,7 @@
3887	3887
3888	3888	VELOCITY
3889	3889	)))|Execute|BOOL|No|TRUE/FALSE|Enable
3890		-|Velocity|LREAL|No|(((
3891		-[-999999999.999999,99999
3892		-
3893		-9999.999999]
3894		-)))|Setting velocity
	3877	+|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3895	3895	|Axis|(((
3896	3896	WORD
3897	3897
...	...	@@ -3925,14 +3925,16 @@
3925	3925
3926	3926	**Timing diagram**
3927	3927
3928		-(% style="text-align:center" %)
3929		-[[image:1761033004563-270.png]]
	3911	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3930	3930
3931		-=== **MC _ SETTORQUE** ===
3932	3932
	3914	+
	3915	+
	3916	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
	3917	+
3933	3933	MC _ SETTORQUE-Synchronous torque instruction
3934	3934
3935		-[[image:1761033083623-162.png]]
	3920	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3936	3936
3937	3937	**Device used (only a single device can be used, and device splicing and Index are not supported)**
3938	3938
...	...	@@ -3999,12 +3999,27 @@
3999	3999
4000	4000	* This function block is not available when the axis does not exist.
4001	4001
4002		-=== **MC _ TORQUECONTROL** ===
4003	4003
4004		-MC _ TORQUECONTROL-Torque control command
4005	4005
4006		-[[image:1761033167971-496.png||height="206" width="262"]]
4007	4007
	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	+
4008	4008	**Device used (only a single device can be used, and device splicing and Index are not supported)**
4009	4009
4010	4010	|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
...	...	@@ -4068,6 +4068,8 @@
4068	4068
4069	4069	* If VD3E is used, the value of startup parameter 2001:9 is 2;
4070	4070
	4071	+
	4072	+
4071	4071	**Function description**
4072	4072
4073	4073	* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
...	...	@@ -4110,302 +4110,16 @@
4110	4110
4111	4111	After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4112	4112
4113		-(% style="text-align:center" %)
4114		-[[image:1761033264625-188.png]]
	4115	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4115	4115
4116		-
4117	4117	After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4118	4118
4119		-(% style="text-align:center" %)
4120		-[[image:1761033334729-116.png]]
	4119	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4121	4121
4122		-=== **MC _ MOVEABSRELPP** ===
	4121	+== ==
4123	4123
4124		-MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
	4123	+== ==
4125	4125
4126		-[[image:1761034254689-443.png]]
4127		-
4128		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4129		-
4130		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4131		-**Pulse**
4132		-
4133		-**Expansion**
4134		-)))
4135		-|**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**
4136		-|(% rowspan="13" %)(((
4137		-MC _ MOVEA
4138		-
4139		-BSRELPP
4140		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4141		-|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4142		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4143		-|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4144		-|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4145		-|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4146		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4147		-|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4148		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4149		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4150		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4151		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4152		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4153		-
4154		-**Notes for using devices**
4155		-
4156		-* LC and HSC are signed 32-bit data types;
4157		-* T, C, D, R and SD are signed 16-bit data types.
4158		-
4159		-**Variable type used**
4160		-
4161		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4162		-|(% rowspan="13" %)(((
4163		-MC _ MOVE
4164		-
4165		-ABSRELPP
4166		-)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4167		-|Mode|INT|No|0,1|(((
4168		-1: Absolute mode.
4169		-
4170		-1: Relative mode
4171		-)))
4172		-|Position|LREAL|No|(((
4173		--999999999.999999
4174		-
4175		-999999999.999999
4176		-)))|Target location
4177		-|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4178		-|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4179		-|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4180		-|Axis|WORD|No|[0,65535]|Axis number
4181		-|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4182		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4183		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4184		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4185		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4186		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4187		-
4188		-**Function**
4189		-
4190		-* 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.
4191		-* Contour Position Mode requires the following PDOs:
4192		-
4193		-0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4194		-
4195		-0x1A00: 0x6061, 0x6064, 0x6041
4196		-
4197		-**Function description**
4198		-
4199		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4200		-* 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;
4201		-* 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;
4202		-* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4203		-* Interrupt
4204		-
4205		-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;
4206		-
4207		-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.
4208		-
4209		-**Timing diagram**
4210		-
4211		-
4212		-(% style="text-align:center" %)
4213		-[[image:1761034304535-743.png]]
4214		-
4215		-=== **MC _ MOVEVELOCITYPV** ===
4216		-
4217		-MC _ MOVEVELOCITYPV-Contour Speed Command
4218		-
4219		-[[image:1761034415972-645.png]]
4220		-
4221		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4222		-
4223		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4224		-**Index**
4225		-
4226		-**Modification**
4227		-)))|(((
4228		-**Pulse**
4229		-
4230		-**Expansion**
4231		-)))
4232		-|**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**
4233		-|(% rowspan="11" %)(((
4234		-MC _ MOVEVELO
4235		-
4236		-CITYPV
4237		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4238		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4239		-|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4240		-|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4241		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4242		-|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4243		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4244		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4245		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4246		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4247		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4248		-
4249		-**Notes for using devices**
4250		-
4251		-* LC and HSC are signed 32-bit data types;
4252		-* T, C, D, R and SD are signed 16-bit data types.
4253		-
4254		-**Variable type used**
4255		-
4256		-|**Instruction**|(((
4257		-**Pin**
4258		-
4259		-**type**
4260		-)))|**Parameter**|(((
4261		-**Variable**
4262		-
4263		-**Type**
4264		-)))|(((
4265		-**Can you**
4266		-
4267		-**Is empty**
4268		-)))|**Range**|**Description**
4269		-|(% rowspan="11" %)(((
4270		-MC _ MOVEVE
4271		-
4272		-LOCITYPV
4273		-)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4274		-|Velocity|LREAL|No|(((
4275		--999999999.999999
4276		-
4277		-999999999.999999
4278		-)))|Velocity
4279		-|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4280		-|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4281		-|Axis|WORD|No|[0,65535]|Axis number
4282		-|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4283		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4284		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4285		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4286		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4287		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4288		-
4289		-**Function**
4290		-
4291		-* 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;
4292		-* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4293		-* The following PDOs are required for the profile speed mode:
4294		-
4295		-0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4296		-
4297		-0x1A00: 0x6061, 0x606c, 0x6041
4298		-
4299		-**Function description**
4300		-
4301		-* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4302		-* 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.
4303		-
4304		-**Timing diagram**
4305		-
4306		-
4307		-(% style="text-align:center" %)
4308		-[[image:1761034458765-139.png]]
4309		-
4310		-=== **MC _ TORQUECONTROLPT** ===
4311		-
4312		-MC _ TORQUECONTROLPT-Contour torque control command
4313		-
4314		-[[image:1761034544967-630.png]]
4315		-
4316		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4317		-
4318		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4319		-|**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**
4320		-|(% rowspan="11" %)(((
4321		-MC _ TORQUE
4322		-
4323		-CONTROLPT
4324		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4325		-|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4326		-|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4327		-|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4328		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4329		-|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4330		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4331		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4332		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4333		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4334		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4335		-
4336		-**Notes for using devices**
4337		-
4338		-* LC and HSC are signed 32-bit data types;
4339		-* T, C, D, R and SD are signed 16-bit data types.
4340		-
4341		-**Variable type used**
4342		-
4343		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4344		-|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4345		-|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4346		-|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4347		-|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4348		-|Axis|WORD|No|[0,65535]|Axis number
4349		-|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4350		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4351		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4352		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4353		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4354		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4355		-
4356		-**Function**
4357		-
4358		-* 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;
4359		-* 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;
4360		-* Profile torque mode needs to be configured with the following PDOs:
4361		-
4362		-0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4363		-
4364		-0x1A00: 0x6061, 0x6077, 0x6041
4365		-
4366		-**Function description**
4367		-
4368		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4369		-* This instruction uses the driver synchronous torque mode to realize the torque control function;
4370		-* 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;
4371		-
4372		-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;
4373		-
4374		-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.
4375		-
4376		-* Speed control in torque mode
4377		-
4378		-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;
4379		-
4380		-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;
4381		-
4382		-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;
4383		-
4384		-For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4385		-
4386		-The maximum speed of the servomotor can be limited by 0x607F;
4387		-
4388		-0x607F can be configured into the PDO;
4389		-
4390		-The unit of 0x607F is pulse unit, non-speed unit.
4391		-
4392		-* Stop control on torque mode
4393		-
4394		-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.
4395		-
4396		-* Interrupt
4397		-
4398		-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;
4399		-
4400		-CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4401		-
4402		-The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4403		-
4404		-**Timing diagram**
4405		-
4406		-(% style="text-align:center" %)
4407		-[[image:1761034615747-763.png]]
4408		-
4409	4409	== **SDO instruction** ==
4410	4410
4411	4411	----
...	...	@@ -4896,41 +4896,16 @@
4896	4896	----
4897	4897
4898	4898	(% style="text-align:center" %)
4899		-[[image:123.png||height="659" width="621"]]
	4615	+[[image:1709016272018-406.png||height="669" width="631"]]
4900	4900
4901		-**✎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).
4902		-
4903		-① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4904		-
4905		-② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4906		-
4907		-③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4908		-
4909		-④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4910		-
4911		-⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4912		-
4913		-⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4914		-
4915	4915	=== **Axis group motion control status diagram** ===
4916	4916
4917	4917	----
4918	4918
4919	4919	(% style="text-align:center" %)
4920		-[[image:234.png||height="405" width="669"]]
	4622	+[[image:1709016323709-202.png]]
4921	4921
4922		-**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4923	4923
4924		-① Applies to all non-administrative (i.e., motion control) function blocks.
4925		-
4926		-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.
4927		-
4928		-③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4929		-
4930		-④ The state transition is available if the last axis is removed from the axis group.
4931		-
4932		-⑤ The transition is available when the axis group is non-empty.
4933		-
4934	4934	=== **Arc mode description** ===
4935	4935
4936	4936	----
...	...	@@ -4942,20 +4942,22 @@
4942	4942
4943	4943	Features
4944	4944	)))|(((
4945		-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	+
4946	4946	)))|(((
4947	4947
4948	4948
4949		-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.
4950	4950
4951	4951
4952	4952
4953	4953	)))|(((
4954		-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.
4955	4955
4956	4956	The direction of the vector determines the direction of CW and CCW circles.
4957	4957
4958		-The vector length is the radius of the arc.
	4651	+The major arc and minor arc are determined by path choice.
4959	4959	)))
4960	4960	|(((
4961	4961
...	...	@@ -5205,7 +5205,6 @@
5205	5205	|0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5206	5206	|0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5207	5207	|0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5208		-|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5209	5209	|(% colspan="3" %)**Error Stop**
5210	5210	|0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5211	5211	|(% colspan="3" %)**Error from servo**
...	...	@@ -5229,25 +5229,6 @@
5229	5229	|0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5230	5230	|0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5231	5231	|0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5232		-|0x00600014|(((
5233		-MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5234		-
5235		-OVER_LIMIT
5236		-)))|Pulse shaft HOME Velocity over limit
5237		-|0x00600015|(((
5238		-MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5239		-
5240		-OVER_LIMIT
5241		-)))|Pulse shaft HOME Acceleration over limit
5242		-|0x00600020|(((
5243		-MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5244		-
5245		-NOTMAP
5246		-)))|(((
5247		-There is no required PDO for the mode
5248		-
5249		-corresponding to mode switching.
5250		-)))
5251	5251	|0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5252	5252	|(% colspan="3" %)**Axis’s error**
5253	5253	|0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error

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