Changes for page 08 Motion Control

Summary

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

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Content

...	...	@@ -15,8 +15,6 @@
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		-
20	20	|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
21	21	|**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**
22	22	|(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
...	...	@@ -36,20 +36,19 @@
36	36
37	37	Variable Type Used
38	38
	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])
39	39
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		-
50	50	Function
51	51
52		-* This function block must be enabled if an axis is to participate in motion.
	49	+* This funcion block must be enabled if an axis is to participate in motion.
53	53	* The function is as follows:
54	54
55	55	1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
...	...	@@ -814,6 +814,9 @@
814	814	Precautions
815	815
816	816	* 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="10" %)(((
	1500	+|(% colspan="1" rowspan="11" %)(((
1501	1501
1502	1502
1503	1503
...	...	@@ -1540,7 +1540,7 @@
1540	1540
1541	1541	Others: Reserved
1542	1542	)))
1543		-|(% colspan="1" rowspan="5" %)(((
	1543	+|(% colspan="1" rowspan="6" %)(((
1544	1544
1545	1545
1546	1546
...	...	@@ -1548,6 +1548,7 @@
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
1551	1551	|Error|BOOL|Yes| |Whether there is an error or not
1552	1552	|ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1553	1553
...	...	@@ -1622,9 +1622,9 @@
1622	1622	MC_SAVECAMTABLE
1623	1623	)))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1624	1624	|CamTableID|INT|No|-|Cam tableID
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
	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
1628	1628	|Error|BOOL|Yes|-|Whether there is an error or not
1629	1629	|ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1630	1630
...	...	@@ -2200,6 +2200,19 @@
2200	2200
2201	2201
2202	2202
	2204	+
	2205	+
	2206	+
	2207	+
	2208	+
	2209	+
	2210	+
	2211	+
	2212	+
	2213	+
	2214	+
	2215	+
	2216	+
2203	2203	== **Management functions of axis group motion control** ==
2204	2204
2205	2205	----
...	...	@@ -3735,9 +3735,9 @@
3735	3735
3736	3736	=== **MC _ MOVEVELOCITY _ CSV** ===
3737	3737
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
	3752	+MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3739	3739
3740		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
	3754	+[[image:1761032781939-478.png]]
3741	3741
3742	3742	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.
3743	3743
...	...	@@ -3813,11 +3813,11 @@
3813	3813
3814	3814	**Function**
3815	3815
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.
	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.
3817	3817	* 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;
3818	3818	* 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;
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.
	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.
3821	3821
3822	3822	**Error code**
3823	3823
...	...	@@ -3831,16 +3831,15 @@
3831	3831
3832	3832	**Timing diagram**
3833	3833
3834		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3835	3835
	3849	+(% style="text-align:center" %)
	3850	+[[image:1761032845559-339.png||height="306" width="520"]]
3836	3836
	3852	+=== **MC _ SYNCMOVEVELOCITY** ===
3837	3837
3838		-
3839		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840		-
3841	3841	MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3842	3842
3843		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
	3856	+[[image:1761032974104-584.png]]
3844	3844
3845	3845	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.
3846	3846
...	...	@@ -3874,7 +3874,11 @@
3874	3874
3875	3875	VELOCITY
3876	3876	)))|Execute|BOOL|No|TRUE/FALSE|Enable
3877		-|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
	3890	+|Velocity|LREAL|No|(((
	3891	+[-999999999.999999,99999
	3892	+
	3893	+9999.999999]
	3894	+)))|Setting velocity
3878	3878	|Axis|(((
3879	3879	WORD
3880	3880
...	...	@@ -3908,16 +3908,14 @@
3908	3908
3909	3909	**Timing diagram**
3910	3910
3911		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
	3928	+(% style="text-align:center" %)
	3929	+[[image:1761033004563-270.png]]
3912	3912
	3931	+=== **MC _ SETTORQUE** ===
3913	3913
3914		-
3915		-
3916		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917		-
3918	3918	MC _ SETTORQUE-Synchronous torque instruction
3919	3919
3920		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
	3935	+[[image:1761033083623-162.png]]
3921	3921
3922	3922	**Device used (only a single device can be used, and device splicing and Index are not supported)**
3923	3923
...	...	@@ -3984,27 +3984,12 @@
3984	3984
3985	3985	* This function block is not available when the axis does not exist.
3986	3986
	4002	+=== **MC _ TORQUECONTROL** ===
3987	3987
	4004	+MC _ TORQUECONTROL-Torque control command
3988	3988
	4006	+[[image:1761033167971-496.png||height="206" width="262"]]
3989	3989
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**|(((
...	...	@@ -4068,8 +4068,6 @@
4068	4068
4069	4069	* If VD3E is used, the value of startup parameter 2001:9 is 2;
4070	4070
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;
...	...	@@ -4112,16 +4112,302 @@
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		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
	4113	+(% style="text-align:center" %)
	4114	+[[image:1761033264625-188.png]]
4116	4116
	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		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
	4119	+(% style="text-align:center" %)
	4120	+[[image:1761033334729-116.png]]
4120	4120
4121		-== ==
	4122	+=== **MC _ MOVEABSRELPP** ===
4122	4122
4123		-== ==
	4124	+MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4124	4124
	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	+
4125	4125	== **SDO instruction** ==
4126	4126
4127	4127	----
...	...	@@ -4612,16 +4612,41 @@
4612	4612	----
4613	4613
4614	4614	(% style="text-align:center" %)
4615		-[[image:1709016272018-406.png||height="669" width="631"]]
	4899	+[[image:123.png||height="659" width="621"]]
4616	4616
	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	+
4617	4617	=== **Axis group motion control status diagram** ===
4618	4618
4619	4619	----
4620	4620
4621	4621	(% style="text-align:center" %)
4622		-[[image:1709016323709-202.png]]
	4920	+[[image:234.png||height="405" width="669"]]
4623	4623
	4922	+**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4624	4624
	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	+
4625	4625	=== **Arc mode description** ===
4626	4626
4627	4627	----
...	...	@@ -4633,22 +4633,20 @@
4633	4633
4634	4634	Features
4635	4635	)))|(((
4636		-The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4637		-
4638		-
	4945	+The arc path consists of the starting point, auxiliary points, and ending point.
4639	4639	)))|(((
4640	4640
4641	4641
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.
	4949	+The arc path consists of the starting point, the center point, and theending point.
4643	4643
4644	4644
4645	4645
4646	4646	)))|(((
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.
	4954	+The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4648	4648
4649	4649	The direction of the vector determines the direction of CW and CCW circles.
4650	4650
4651		-The major arc and minor arc are determined by path choice.
	4958	+The vector length is the radius of the arc.
4652	4652	)))
4653	4653	|(((
4654	4654
...	...	@@ -4898,6 +4898,7 @@
4898	4898	|0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
4899	4899	|0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
4900	4900	|0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
	5208	+|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
4901	4901	|(% colspan="3" %)**Error Stop**
4902	4902	|0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
4903	4903	|(% colspan="3" %)**Error from servo**
...	...	@@ -4921,6 +4921,25 @@
4921	4921	|0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
4922	4922	|0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
4923	4923	|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	+)))
4924	4924	|0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
4925	4925	|(% colspan="3" %)**Axis’s error**
4926	4926	|0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error

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