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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 2.2
edited by Iris
on 2025/10/21 15:58
Change comment: There is no comment for this version
To version 1.1
edited by Wecon
on 2025/09/03 21:02
Change comment: Imported from XAR

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Iris
1 +XWiki.Wecon
Content
... ... @@ -2199,8 +2199,6 @@
2199 2199  )))
2200 2200  
2201 2201  
2202 -
2203 -
2204 2204  == **Management functions of axis group motion control** ==
2205 2205  
2206 2206  ----
... ... @@ -3734,663 +3734,6 @@
3734 3734  |=**Error code**|=**Content**
3735 3735  |4084H|Input data beyond the specifiable range
3736 3736  
3737 -=== **MC _ MOVEVELOCITY _ CSV** ===
3738 -
3739 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3740 -
3741 -[[image:1761032781939-478.png]]
3742 -
3743 -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.
3744 -
3745 -**Device used (only a single device can be used, device splicing and index are not supported)**
3746 -
3747 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3748 -**Index**
3749 -
3750 -**Modification**
3751 -)))|(((
3752 -**Pulse**
3753 -
3754 -**Expansion**
3755 -)))
3756 -|**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**
3757 -|(% rowspan="15" %)(((
3758 -MC _ MOVEVELOCITY
3759 -
3760 -_ CSV
3761 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3762 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3763 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3764 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3765 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3766 -|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3767 -|Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3768 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3769 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3770 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3771 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3772 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3773 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3775 -|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3776 -
3777 -**Notes:**
3778 -
3779 -* LC and HSC are signed 32-bit data types;
3780 -* T, C, D, R and SD are signed 16-bit data types.
3781 -
3782 -**Variable type used**
3783 -
3784 -|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3785 -|(% rowspan="15" %)(((
3786 -MC _ MOVE
3787 -
3788 -VELOCITY _ CSV
3789 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3790 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3791 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3792 -|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3793 -|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3794 -|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3795 -|Direction|WORD|No|[1,4]|(((
3796 -Direction flag bit (Only rotation mode takes effect）。
3797 -
3798 -~1. Positive direction;
3799 -
3800 -2. Negative direction;
3801 -
3802 -3. The current direction;
3803 -
3804 -4. The shortest path (reserved).
3805 -)))
3806 -|BufferMode|WORD|Yes|[0]|BufferMode
3807 -|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3808 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3809 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3810 -|Active|BOOL|Yes|TRUE/FALSE|Activity flag
3811 -|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3812 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3813 -|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3814 -
3815 -**Function**
3816 -
3817 -* 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.
3818 -* 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;
3819 -* 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;
3820 -* 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;
3821 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3822 -
3823 -**Error code**
3824 -
3825 -|**Error code**|**Content**
3826 -|4084H|Input data beyond the specifiable range
3827 -
3828 -**Precautions**
3829 -
3830 -* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3831 -* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3832 -
3833 -**Timing diagram**
3834 -
3835 -
3836 -(% style="text-align:center" %)
3837 -[[image:1761032845559-339.png||height="306" width="520"]]
3838 -
3839 -=== **MC _ SYNCMOVEVELOCITY** ===
3840 -
3841 -MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3842 -
3843 -[[image:1761032974104-584.png]]
3844 -
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 -
3847 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3848 -
3849 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3850 -|**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**
3851 -|(% rowspan="8" %)(((
3852 -MC _ SYNCMOVE
3853 -
3854 -VELOCITY
3855 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3856 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3857 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3858 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3859 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3860 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3861 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3862 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3863 -
3864 -**Notes for using devices**
3865 -
3866 -* LC and HSC are signed 32-bit data types;
3867 -* T, C, D, R and SD are signed 16-bit data types.
3868 -
3869 -**Variable type used**
3870 -
3871 -|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3872 -|(% rowspan="8" %)(((
3873 -MC _ SYNCMOVE
3874 -
3875 -VELOCITY
3876 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3877 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3878 -|Axis|(((
3879 -WORD
3880 -
3881 -
3882 -)))|No|[0,65535]|Axis number and built-in variable of axis
3883 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3884 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3885 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3886 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3887 -|ErrorID|DWORD|Yes|-|(((
3888 -Error code (Please refer to
3889 -
3890 -[[8.11 Error Code>>path:#错误码对照表]]
3891 -)))
3892 -
3893 -**Function**
3894 -
3895 -* The MC _ SYNCMOVEVELOCITY function block function block is used to continue the movement of the previous function block and move according to the speed specified by the function block.
3896 -* 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;
3897 -* 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;
3898 -* The MC _ SYNCMOVEVELOCITY 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;
3899 -* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3900 -
3901 -**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3902 -
3903 -
3904 -**Error code**
3905 -
3906 -|**Error code**|**Content**
3907 -|4084H|Input data beyond the specifiable range
3908 -
3909 -**Timing diagram**
3910 -
3911 -(% style="text-align:center" %)
3912 -[[image:1761033004563-270.png]]
3913 -
3914 -=== **MC _ SETTORQUE** ===
3915 -
3916 -MC _ SETTORQUE-Synchronous torque instruction
3917 -
3918 -[[image:1761033083623-162.png]]
3919 -
3920 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3921 -
3922 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3923 -**Index**
3924 -
3925 -**Modification**
3926 -)))|(((
3927 -**Pulse**
3928 -
3929 -**Expansion**
3930 -)))
3931 -|**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**
3932 -|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3933 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3934 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3935 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3936 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3937 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3938 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3939 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3940 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3941 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3942 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3943 -
3944 -**Notes for using devices**
3945 -
3946 -* LC and HSC are signed 32-bit data types;
3947 -* T, C, D, R and SD are signed 16-bit data types.
3948 -
3949 -**Variable type used**
3950 -
3951 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3952 -|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3953 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3954 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3955 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3956 -|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3957 -|Axis|WORD|No|[0,65535]|Axis number
3958 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3959 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3960 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
3961 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3962 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
3963 -|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3964 -
3965 -**Function**
3966 -
3967 -* This instruction is used to implement the synchronous torque control function and is only used for the bus servo axis. The rising edge and high level of the command are valid, and the virtual axis mode is not supported.
3968 -* The following PDOs need to be configured in CST mode;
3969 -
3970 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
3971 -
3972 -0x1A00: 0x6061, 0x6077, 0x6041
3973 -
3974 -* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3975 -* When Enable = ON, the function block converts TarTorque and MaxVelocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion. When the falling edge of Eanble, the function block performs synchronous torque motion with the TarTorque and Velocity latched during the high level, and it is invalid to modify the TarTorque and Velocity in real time;
3976 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3977 -* This instruction uses the driver synchronous torque mode to realize the torque control function. When Enable = ON, the function block converts TarTorque and Velocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion;
3978 -
3979 -TarTorque: The 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.
3980 -
3981 -**Note**
3982 -
3983 -* This function block is not available when the axis does not exist.
3984 -
3985 -=== **MC _ TORQUECONTROL** ===
3986 -
3987 -MC _ TORQUECONTROL-Torque control command
3988 -
3989 -[[image:1761033167971-496.png||height="206" width="262"]]
3990 -
3991 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3992 -
3993 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3994 -**Index**
3995 -
3996 -**Modification**
3997 -)))|(((
3998 -**Pulse**
3999 -
4000 -**Expansion**
4001 -)))
4002 -|**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**
4003 -|(% rowspan="13" %)(((
4004 -MC _ TORQUE
4005 -
4006 -CONTROL
4007 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4008 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4009 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4010 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4011 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4012 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4013 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4014 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4015 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4016 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4017 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4018 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4019 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4020 -
4021 -**Notes for using devices**
4022 -
4023 -* LC and HSC are signed 32-bit data types;
4024 -* T, C, D, R and SD are signed 16-bit data types.
4025 -
4026 -**Variable type used**
4027 -
4028 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4029 -|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4030 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4031 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4032 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4033 -|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4034 -|BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4035 -|Axis|WORD|No|[0,65535]|Axis number
4036 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4037 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4038 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4039 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4040 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4041 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4042 -
4043 -**Function**
4044 -
4045 -* 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 imaginary axis mode is not supported.
4046 -* The following PDOs need to be configured in CST mode:
4047 -
4048 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
4049 -
4050 -0x1A00: 0x6061, 0x6077, 0x6041
4051 -
4052 -* If VD3E is used, the value of startup parameter 2001:9 is 2;
4053 -
4054 -**Function description**
4055 -
4056 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4057 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4058 -* 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;
4059 -
4060 -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 discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4061 -
4062 -TorqueSlope: Moment slope, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded;
4063 -
4064 -* Speed control in torque mode
4065 -
4066 -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;
4067 -
4068 -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;
4069 -
4070 -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;
4071 -
4072 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4073 -
4074 -The maximum speed of the servomotor can be limited by 0x607F;
4075 -
4076 -0x607F can be configured into the PDO;
4077 -
4078 -The unit of 0x607F is pulse unit, non-speed unit.
4079 -
4080 -* Stop control on torque mode
4081 -
4082 -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.
4083 -
4084 -* Interrupt
4085 -
4086 -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;
4087 -
4088 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4089 -
4090 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4091 -
4092 -**Timing diagram**
4093 -
4094 -After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4095 -
4096 -(% style="text-align:center" %)
4097 -[[image:1761033264625-188.png]]
4098 -
4099 -
4100 -After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4101 -
4102 -(% style="text-align:center" %)
4103 -[[image:1761033334729-116.png]]
4104 -
4105 -=== **MC _ MOVEABSRELPP** ===
4106 -
4107 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 -
4109 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4110 -
4111 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4112 -
4113 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4114 -**Pulse**
4115 -
4116 -**Expansion**
4117 -)))
4118 -|**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**
4119 -|(% rowspan="13" %)(((
4120 -MC _ MOVEA
4121 -
4122 -BSRELPP
4123 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4124 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4125 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4126 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4127 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4128 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4129 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4130 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4131 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4132 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4133 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4134 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4135 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 -
4137 -**Notes for using devices**
4138 -
4139 -* LC and HSC are signed 32-bit data types;
4140 -* T, C, D, R and SD are signed 16-bit data types.
4141 -
4142 -**Variable type used**
4143 -
4144 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4145 -|(% rowspan="13" %)(((
4146 -MC _ MOVE
4147 -
4148 -ABSRELPP
4149 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4150 -|Mode|INT|No|0,1|(((
4151 -1: Absolute mode.
4152 -
4153 -1: Relative mode
4154 -)))
4155 -|Position|LREAL|No|(((
4156 --999999999.999999
4157 -
4158 -999999999.999999
4159 -)))|Target location
4160 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4161 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4162 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4163 -|Axis|WORD|No|[0,65535]|Axis number
4164 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4165 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4166 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4167 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4168 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4169 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4170 -
4171 -**Function**
4172 -
4173 -* 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.
4174 -* Contour Position Mode requires the following PDOs:
4175 -
4176 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4177 -
4178 -0x1A00: 0x6061, 0x6064, 0x6041
4179 -
4180 -**Function description**
4181 -
4182 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4183 -* 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;
4184 -* 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;
4185 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4186 -* Interrupt
4187 -
4188 -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;
4189 -
4190 -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.
4191 -
4192 -**Timing diagram**
4193 -
4194 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4195 -
4196 -
4197 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4198 -
4199 -MC _ MOVEVELOCITYPV-Contour Speed Command
4200 -
4201 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4202 -
4203 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4204 -
4205 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4206 -**Index**
4207 -
4208 -**Modification**
4209 -)))|(((
4210 -**Pulse**
4211 -
4212 -**Expansion**
4213 -)))
4214 -|**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**
4215 -|(% rowspan="11" %)(((
4216 -MC _ MOVEVELO
4217 -
4218 -CITYPV
4219 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4220 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4221 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4222 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4223 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4224 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4225 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4226 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4227 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4228 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4229 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4230 -
4231 -**Notes for using devices**
4232 -
4233 -* LC and HSC are signed 32-bit data types;
4234 -* T, C, D, R and SD are signed 16-bit data types.
4235 -
4236 -**Variable type used**
4237 -
4238 -|**Instruction**|(((
4239 -**Pin**
4240 -
4241 -**type**
4242 -)))|**Parameter**|(((
4243 -**Variable**
4244 -
4245 -**Type**
4246 -)))|(((
4247 -**Can you**
4248 -
4249 -**Is empty**
4250 -)))|**Range**|**Description**
4251 -|(% rowspan="11" %)(((
4252 -MC _ MOVEVE
4253 -
4254 -LOCITYPV
4255 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4256 -|Velocity|LREAL|No|(((
4257 --999999999.999999
4258 -
4259 -999999999.999999
4260 -)))|Velocity
4261 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4262 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4263 -|Axis|WORD|No|[0,65535]|Axis number
4264 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4265 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4266 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4267 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4268 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4269 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4270 -
4271 -**Function**
4272 -
4273 -* 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;
4274 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4275 -* The following PDOs are required for the profile speed mode:
4276 -
4277 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4278 -
4279 -0x1A00: 0x6061, 0x606c, 0x6041
4280 -
4281 -**Function description**
4282 -
4283 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4284 -* 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.
4285 -
4286 -**Timing diagram**
4287 -
4288 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4289 -
4290 -
4291 -
4292 -
4293 -**8.7.10 MC _ TORQUECONTROLPT**
4294 -
4295 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4296 -
4297 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4298 -
4299 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4300 -
4301 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4302 -|**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**
4303 -|(% rowspan="11" %)(((
4304 -MC _ TORQUE
4305 -
4306 -CONTROLPT
4307 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4308 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4309 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4310 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4311 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4312 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4313 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4314 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4315 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4316 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4317 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4318 -
4319 -**Notes for using devices**
4320 -
4321 -* LC and HSC are signed 32-bit data types;
4322 -* T, C, D, R and SD are signed 16-bit data types.
4323 -
4324 -**Variable type used**
4325 -
4326 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4327 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4328 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4329 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4330 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4331 -|Axis|WORD|No|[0,65535]|Axis number
4332 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4333 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4334 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4335 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4336 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4337 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4338 -
4339 -**Function**
4340 -
4341 -* 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;
4342 -* 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;
4343 -* Profile torque mode needs to be configured with the following PDOs:
4344 -
4345 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4346 -
4347 -0x1A00: 0x6061, 0x6077, 0x6041
4348 -
4349 -
4350 -**Function description**
4351 -
4352 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4353 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4354 -* 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;
4355 -
4356 -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;
4357 -
4358 -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.
4359 -
4360 -* Speed control in torque mode
4361 -
4362 -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;
4363 -
4364 -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;
4365 -
4366 -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;
4367 -
4368 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4369 -
4370 -The maximum speed of the servomotor can be limited by 0x607F;
4371 -
4372 -0x607F can be configured into the PDO;
4373 -
4374 -The unit of 0x607F is pulse unit, non-speed unit.
4375 -
4376 -* Stop control on torque mode
4377 -
4378 -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.
4379 -
4380 -* Interrupt
4381 -
4382 -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;
4383 -
4384 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4385 -
4386 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4387 -
4388 -**Timing diagram**
4389 -
4390 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4391 -
4392 -== ==
4393 -
4394 4394  == **SDO instruction** ==
4395 4395  
4396 4396  ----
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