Changes for page 08 Motion Control

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• Page properties (1 modified, 0 added, 0 removed)
• Attachments (0 modified, 8 added, 0 removed)
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  • 1761032974104-584.png
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Details

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Content

...	...	@@ -2200,6 +2200,8 @@
2200	2200
2201	2201
2202	2202
	2203	+
	2204	+
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
	3740	+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]]
	3742	+[[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
...	...	@@ -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
	3837	+(% style="text-align:center" %)
	3838	+[[image:1761032845559-339.png||height="306" width="520"]]
3836	3836
	3840	+=== **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]]
	3844	+[[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
...	...	@@ -3908,16 +3908,14 @@
3908	3908
3909	3909	**Timing diagram**
3910	3910
3911		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
	3912	+(% style="text-align:center" %)
	3913	+[[image:1761033004563-270.png]]
3912	3912
	3915	+=== **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]]
	3919	+[[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
	3986	+=== **MC _ TORQUECONTROL** ===
3987	3987
	3988	+MC _ TORQUECONTROL-Torque control command
3988	3988
	3990	+[[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;
...	...	@@ -4112,14 +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]]
	4097	+(% style="text-align:center" %)
	4098	+[[image:1761033264625-188.png]]
4116	4116
	4100	+
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]]
	4103	+(% style="text-align:center" %)
	4104	+[[image:1761033334729-116.png]]
4120	4120
4121		-== ==
	4106	+=== **MC _ MOVEABSRELPP** ===
4122	4122
	4108	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
	4109	+
	4110	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
	4111	+
	4112	+**Device used (only a single device can be used, and device splicing and Index are not supported)**
	4113	+
	4114	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
	4115	+**Pulse**
	4116	+
	4117	+**Expansion**
	4118	+)))
	4119	+|**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**
	4120	+|(% rowspan="13" %)(((
	4121	+MC _ MOVEA
	4122	+
	4123	+BSRELPP
	4124	+)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4125	+|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
	4126	+|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
	4127	+|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
	4128	+|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
	4129	+|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
	4130	+|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
	4131	+|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4132	+|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4133	+|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4134	+|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4135	+|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4136	+|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
	4137	+
	4138	+**Notes for using devices**
	4139	+
	4140	+* LC and HSC are signed 32-bit data types;
	4141	+* T, C, D, R and SD are signed 16-bit data types.
	4142	+
	4143	+**Variable type used**
	4144	+
	4145	+|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
	4146	+|(% rowspan="13" %)(((
	4147	+MC _ MOVE
	4148	+
	4149	+ABSRELPP
	4150	+)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
	4151	+|Mode|INT|No|0,1|(((
	4152	+1: Absolute mode.
	4153	+
	4154	+1: Relative mode
	4155	+)))
	4156	+|Position|LREAL|No|(((
	4157	+-999999999.999999
	4158	+
	4159	+999999999.999999
	4160	+)))|Target location
	4161	+|Velocity|LREAL|No|（0,999999999.999999]|Velocity
	4162	+|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
	4163	+|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
	4164	+|Axis|WORD|No|[0,65535]|Axis number
	4165	+|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
	4166	+|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
	4167	+|Active|BOOL|Yes|TRUE/FALSE|Valid flag
	4168	+|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
	4169	+|Error|BOOL|Yes|TRUE/FALSE|Error or not
	4170	+|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
	4171	+
	4172	+**Function**
	4173	+
	4174	+* 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.
	4175	+* Contour Position Mode requires the following PDOs:
	4176	+
	4177	+0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
	4178	+
	4179	+0x1A00: 0x6061, 0x6064, 0x6041
	4180	+
	4181	+**Function description**
	4182	+
	4183	+* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
	4184	+* 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;
	4185	+* 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;
	4186	+* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
	4187	+* Interrupt
	4188	+
	4189	+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;
	4190	+
	4191	+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.
	4192	+
	4193	+**Timing diagram**
	4194	+
	4195	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
	4196	+
	4197	+
	4198	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
	4199	+
	4200	+MC _ MOVEVELOCITYPV-Contour Speed Command
	4201	+
	4202	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
	4203	+
	4204	+**Device used (only a single device can be used, and device splicing and Index are not supported)**
	4205	+
	4206	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
	4207	+**Index**
	4208	+
	4209	+**Modification**
	4210	+)))|(((
	4211	+**Pulse**
	4212	+
	4213	+**Expansion**
	4214	+)))
	4215	+|**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**
	4216	+|(% rowspan="11" %)(((
	4217	+MC _ MOVEVELO
	4218	+
	4219	+CITYPV
	4220	+)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4221	+|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
	4222	+|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
	4223	+|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
	4224	+|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
	4225	+|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4226	+|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4227	+|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4228	+|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4229	+|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4230	+|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
	4231	+
	4232	+**Notes for using devices**
	4233	+
	4234	+* LC and HSC are signed 32-bit data types;
	4235	+* T, C, D, R and SD are signed 16-bit data types.
	4236	+
	4237	+**Variable type used**
	4238	+
	4239	+|**Instruction**|(((
	4240	+**Pin**
	4241	+
	4242	+**type**
	4243	+)))|**Parameter**|(((
	4244	+**Variable**
	4245	+
	4246	+**Type**
	4247	+)))|(((
	4248	+**Can you**
	4249	+
	4250	+**Is empty**
	4251	+)))|**Range**|**Description**
	4252	+|(% rowspan="11" %)(((
	4253	+MC _ MOVEVE
	4254	+
	4255	+LOCITYPV
	4256	+)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
	4257	+|Velocity|LREAL|No|(((
	4258	+-999999999.999999
	4259	+
	4260	+999999999.999999
	4261	+)))|Velocity
	4262	+|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
	4263	+|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
	4264	+|Axis|WORD|No|[0,65535]|Axis number
	4265	+|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
	4266	+|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
	4267	+|Active|BOOL|Yes|TRUE/FALSE|Valid flag
	4268	+|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
	4269	+|Error|BOOL|Yes|TRUE/FALSE|Error or not
	4270	+|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
	4271	+
	4272	+**Function**
	4273	+
	4274	+* 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;
	4275	+* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
	4276	+* The following PDOs are required for the profile speed mode:
	4277	+
	4278	+0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
	4279	+
	4280	+0x1A00: 0x6061, 0x606c, 0x6041
	4281	+
	4282	+**Function description**
	4283	+
	4284	+* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
	4285	+* 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.
	4286	+
	4287	+**Timing diagram**
	4288	+
	4289	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
	4290	+
	4291	+
	4292	+
	4293	+
	4294	+**8.7.10 MC _ TORQUECONTROLPT**
	4295	+
	4296	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
	4297	+
	4298	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
	4299	+
	4300	+**Device used (only a single device can be used, and device splicing and Index are not supported)**
	4301	+
	4302	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
	4303	+|**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**
	4304	+|(% rowspan="11" %)(((
	4305	+MC _ TORQUE
	4306	+
	4307	+CONTROLPT
	4308	+)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4309	+|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
	4310	+|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
	4311	+|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
	4312	+|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
	4313	+|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4314	+|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4315	+|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4316	+|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4317	+|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
	4318	+|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
	4319	+
	4320	+**Notes for using devices**
	4321	+
	4322	+* LC and HSC are signed 32-bit data types;
	4323	+* T, C, D, R and SD are signed 16-bit data types.
	4324	+
	4325	+**Variable type used**
	4326	+
	4327	+|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
	4328	+|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
	4329	+|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
	4330	+|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
	4331	+|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
	4332	+|Axis|WORD|No|[0,65535]|Axis number
	4333	+|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
	4334	+|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
	4335	+|Active|BOOL|Yes|TRUE/FALSE|Valid flag
	4336	+|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
	4337	+|Error|BOOL|Yes|TRUE/FALSE|Error or not
	4338	+|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
	4339	+
	4340	+**Function**
	4341	+
	4342	+* 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;
	4343	+* 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;
	4344	+* Profile torque mode needs to be configured with the following PDOs:
	4345	+
	4346	+0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
	4347	+
	4348	+0x1A00: 0x6061, 0x6077, 0x6041
	4349	+
	4350	+
	4351	+**Function description**
	4352	+
	4353	+* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
	4354	+* This instruction uses the driver synchronous torque mode to realize the torque control function;
	4355	+* 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;
	4356	+
	4357	+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;
	4358	+
	4359	+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.
	4360	+
	4361	+* Speed control in torque mode
	4362	+
	4363	+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;
	4364	+
	4365	+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;
	4366	+
	4367	+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;
	4368	+
	4369	+For third-party drives, Velocity can only be used as a speed limit under the following conditions:
	4370	+
	4371	+The maximum speed of the servomotor can be limited by 0x607F;
	4372	+
	4373	+0x607F can be configured into the PDO;
	4374	+
	4375	+The unit of 0x607F is pulse unit, non-speed unit.
	4376	+
	4377	+* Stop control on torque mode
	4378	+
	4379	+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.
	4380	+
	4381	+* Interrupt
	4382	+
	4383	+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;
	4384	+
	4385	+CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
	4386	+
	4387	+The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
	4388	+
	4389	+**Timing diagram**
	4390	+
	4391	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
	4392	+
4123	4123	== ==
4124	4124
4125	4125	== **SDO instruction** ==

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