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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 2.1
edited by Iris
on 2025/10/21 15:41
Change comment: There is no comment for this version
To version 5.1
edited by Iris
on 2025/10/21 16:17
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -2200,6 +2200,9 @@
2200 2200  
2201 2201  
2202 2202  
2203 +
2204 +
2205 +
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
3741 +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]]
3743 +[[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  
3838 +(% style="text-align:center" %)
3839 +[[image:1761032845559-339.png||height="306" width="520"]]
3836 3836  
3841 +=== **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]]
3845 +[[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]]
3913 +(% style="text-align:center" %)
3914 +[[image:1761033004563-270.png]]
3912 3912  
3916 +=== **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]]
3920 +[[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  
3987 +=== **MC _ TORQUECONTROL** ===
3987 3987  
3989 +MC _ TORQUECONTROL-Torque control command
3988 3988  
3991 +[[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]]
4098 +(% style="text-align:center" %)
4099 +[[image:1761033264625-188.png]]
4116 4116  
4101 +
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]]
4104 +(% style="text-align:center" %)
4105 +[[image:1761033334729-116.png]]
4120 4120  
4121 -== ==
4107 +=== **MC _ MOVEABSRELPP** ===
4122 4122  
4123 -== ==
4109 +MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4124 4124  
4111 +[[image:1761034254689-443.png]]
4112 +
4113 +**Device used (only a single device can be used, and device splicing and Index are not supported)**
4114 +
4115 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4116 +**Pulse**
4117 +
4118 +**Expansion**
4119 +)))
4120 +|**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**
4121 +|(% rowspan="13" %)(((
4122 +MC _ MOVEA
4123 +
4124 +BSRELPP
4125 +)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4126 +|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4127 +|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4128 +|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4129 +|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4130 +|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4131 +|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4132 +|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4133 +|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4134 +|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4135 +|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4136 +|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4137 +|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4138 +
4139 +**Notes for using devices**
4140 +
4141 +* LC and HSC are signed 32-bit data types;
4142 +* T, C, D, R and SD are signed 16-bit data types.
4143 +
4144 +**Variable type used**
4145 +
4146 +|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4147 +|(% rowspan="13" %)(((
4148 +MC _ MOVE
4149 +
4150 +ABSRELPP
4151 +)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4152 +|Mode|INT|No|0,1|(((
4153 +1: Absolute mode.
4154 +
4155 +1: Relative mode
4156 +)))
4157 +|Position|LREAL|No|(((
4158 +-999999999.999999
4159 +
4160 +999999999.999999
4161 +)))|Target location
4162 +|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4163 +|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4164 +|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4165 +|Axis|WORD|No|[0,65535]|Axis number
4166 +|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4167 +|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4168 +|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4169 +|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4170 +|Error|BOOL|Yes|TRUE/FALSE|Error or not
4171 +|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4172 +
4173 +**Function**
4174 +
4175 +* 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.
4176 +* Contour Position Mode requires the following PDOs:
4177 +
4178 +0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4179 +
4180 +0x1A00: 0x6061, 0x6064, 0x6041
4181 +
4182 +**Function description**
4183 +
4184 +* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4185 +* 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;
4186 +* 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;
4187 +* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4188 +* Interrupt
4189 +
4190 +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;
4191 +
4192 +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.
4193 +
4194 +**Timing diagram**
4195 +
4196 +
4197 +(% style="text-align:center" %)
4198 +[[image:1761034304535-743.png]]
4199 +
4200 +=== **MC _ MOVEVELOCITYPV** ===
4201 +
4202 +MC _ MOVEVELOCITYPV-Contour Speed Command
4203 +
4204 +[[image:1761034415972-645.png]]
4205 +
4206 +**Device used (only a single device can be used, and device splicing and Index are not supported)**
4207 +
4208 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4209 +**Index**
4210 +
4211 +**Modification**
4212 +)))|(((
4213 +**Pulse**
4214 +
4215 +**Expansion**
4216 +)))
4217 +|**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**
4218 +|(% rowspan="11" %)(((
4219 +MC _ MOVEVELO
4220 +
4221 +CITYPV
4222 +)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4223 +|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4224 +|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4225 +|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4226 +|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4227 +|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4228 +|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4229 +|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4230 +|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4231 +|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4232 +|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4233 +
4234 +**Notes for using devices**
4235 +
4236 +* LC and HSC are signed 32-bit data types;
4237 +* T, C, D, R and SD are signed 16-bit data types.
4238 +
4239 +**Variable type used**
4240 +
4241 +|**Instruction**|(((
4242 +**Pin**
4243 +
4244 +**type**
4245 +)))|**Parameter**|(((
4246 +**Variable**
4247 +
4248 +**Type**
4249 +)))|(((
4250 +**Can you**
4251 +
4252 +**Is empty**
4253 +)))|**Range**|**Description**
4254 +|(% rowspan="11" %)(((
4255 +MC _ MOVEVE
4256 +
4257 +LOCITYPV
4258 +)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4259 +|Velocity|LREAL|No|(((
4260 +-999999999.999999
4261 +
4262 +999999999.999999
4263 +)))|Velocity
4264 +|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4265 +|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4266 +|Axis|WORD|No|[0,65535]|Axis number
4267 +|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4268 +|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4269 +|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4270 +|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4271 +|Error|BOOL|Yes|TRUE/FALSE|Error or not
4272 +|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4273 +
4274 +**Function**
4275 +
4276 +* 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;
4277 +* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4278 +* The following PDOs are required for the profile speed mode:
4279 +
4280 +0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4281 +
4282 +0x1A00: 0x6061, 0x606c, 0x6041
4283 +
4284 +**Function description**
4285 +
4286 +* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4287 +* 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.
4288 +
4289 +**Timing diagram**
4290 +
4291 +
4292 +(% style="text-align:center" %)
4293 +[[image:1761034458765-139.png]]
4294 +
4295 +=== **MC _ TORQUECONTROLPT** ===
4296 +
4297 +MC _ TORQUECONTROLPT-Contour torque control command
4298 +
4299 +[[image:1761034544967-630.png]]
4300 +
4301 +**Device used (only a single device can be used, and device splicing and Index are not supported)**
4302 +
4303 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4304 +|**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**
4305 +|(% rowspan="11" %)(((
4306 +MC _ TORQUE
4307 +
4308 +CONTROLPT
4309 +)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4310 +|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4311 +|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4312 +|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4313 +|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4314 +|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4315 +|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4316 +|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4317 +|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4318 +|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4319 +|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4320 +
4321 +**Notes for using devices**
4322 +
4323 +* LC and HSC are signed 32-bit data types;
4324 +* T, C, D, R and SD are signed 16-bit data types.
4325 +
4326 +**Variable type used**
4327 +
4328 +|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4329 +|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4330 +|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4331 +|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4332 +|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4333 +|Axis|WORD|No|[0,65535]|Axis number
4334 +|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4335 +|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4336 +|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4337 +|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4338 +|Error|BOOL|Yes|TRUE/FALSE|Error or not
4339 +|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4340 +
4341 +**Function**
4342 +
4343 +* 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;
4344 +* 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;
4345 +* Profile torque mode needs to be configured with the following PDOs:
4346 +
4347 +0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4348 +
4349 +0x1A00: 0x6061, 0x6077, 0x6041
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 +(% style="text-align:center" %)
4392 +[[image:1761034615747-763.png]]
4393 +
4125 4125  == **SDO instruction** ==
4126 4126  
4127 4127  ----
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