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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 6.1
edited by Iris
on 2025/10/22 15:18
Change comment: There is no comment for this version

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Details

Page properties
Content
... ... @@ -2201,6 +2201,12 @@
2201 2201  
2202 2202  
2203 2203  
2204 +
2205 +
2206 +
2207 +
2208 +
2209 +
2204 2204  == **Management functions of axis group motion control** ==
2205 2205  
2206 2206  ----
... ... @@ -4104,9 +4104,9 @@
4104 4104  
4105 4105  === **MC _ MOVEABSRELPP** ===
4106 4106  
4107 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4113 +MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 4108  
4109 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4115 +[[image:1761034254689-443.png]]
4110 4110  
4111 4111  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4112 4112  
... ... @@ -4191,14 +4191,15 @@
4191 4191  
4192 4192  **Timing diagram**
4193 4193  
4194 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4195 4195  
4201 +(% style="text-align:center" %)
4202 +[[image:1761034304535-743.png]]
4196 4196  
4197 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4204 +=== **MC _ MOVEVELOCITYPV** ===
4198 4198  
4199 4199  MC _ MOVEVELOCITYPV-Contour Speed Command
4200 4200  
4201 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4208 +[[image:1761034415972-645.png]]
4202 4202  
4203 4203  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4204 4204  
... ... @@ -4285,17 +4285,16 @@
4285 4285  
4286 4286  **Timing diagram**
4287 4287  
4288 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4289 4289  
4296 +(% style="text-align:center" %)
4297 +[[image:1761034458765-139.png]]
4290 4290  
4299 +=== **MC _ TORQUECONTROLPT** ===
4291 4291  
4301 +MC _ TORQUECONTROLPT-Contour torque control command
4292 4292  
4293 -**8.7.10 MC _ TORQUECONTROLPT**
4303 +[[image:1761034544967-630.png]]
4294 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 4299  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4300 4300  
4301 4301  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4346,7 +4346,6 @@
4346 4346  
4347 4347  0x1A00: 0x6061, 0x6077, 0x6041
4348 4348  
4349 -
4350 4350  **Function description**
4351 4351  
4352 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;
... ... @@ -4387,10 +4387,9 @@
4387 4387  
4388 4388  **Timing diagram**
4389 4389  
4390 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4395 +(% style="text-align:center" %)
4396 +[[image:1761034615747-763.png]]
4391 4391  
4392 -== ==
4393 -
4394 4394  == **SDO instruction** ==
4395 4395  
4396 4396  ----
... ... @@ -5167,6 +5167,7 @@
5167 5167  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5168 5168  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5169 5169  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5174 +|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5170 5170  |(% colspan="3" %)**Error Stop**
5171 5171  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5172 5172  |(% colspan="3" %)**Error from servo**
... ... @@ -5190,6 +5190,25 @@
5190 5190  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5191 5191  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5192 5192  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5198 +|0x00600014|(((
5199 +MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5200 +
5201 +OVER_LIMIT
5202 +)))|Pulse shaft HOME Velocity over limit
5203 +|0x00600015|(((
5204 +MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5205 +
5206 +OVER_LIMIT
5207 +)))|Pulse shaft HOME Acceleration over limit
5208 +|0x00600020|(((
5209 +MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5210 +
5211 +NOTMAP
5212 +)))|(((
5213 +There is no required PDO for the mode
5214 +
5215 +corresponding to mode switching.
5216 +)))
5193 5193  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5194 5194  |(% colspan="3" %)**Axis’s error**
5195 5195  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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