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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 4.1
edited by Iris
on 2025/10/21 16:03
Change comment: There is no comment for this version
To version 2.1
edited by Iris
on 2025/10/21 15:41
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -2200,8 +2200,6 @@
2200 2200  
2201 2201  
2202 2202  
2203 -
2204 -
2205 2205  == **Management functions of axis group motion control** ==
2206 2206  
2207 2207  ----
... ... @@ -3737,9 +3737,9 @@
3737 3737  
3738 3738  === **MC _ MOVEVELOCITY _ CSV** ===
3739 3739  
3740 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
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 3741  
3742 -[[image:1761032781939-478.png]]
3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3743 3743  
3744 3744  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.
3745 3745  
... ... @@ -3833,15 +3833,16 @@
3833 3833  
3834 3834  **Timing diagram**
3835 3835  
3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3836 3836  
3837 -(% style="text-align:center" %)
3838 -[[image:1761032845559-339.png||height="306" width="520"]]
3839 3839  
3840 -=== **MC _ SYNCMOVEVELOCITY** ===
3841 3841  
3838 +
3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840 +
3842 3842  MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3843 3843  
3844 -[[image:1761032974104-584.png]]
3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3845 3845  
3846 3846  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.
3847 3847  
... ... @@ -3909,14 +3909,16 @@
3909 3909  
3910 3910  **Timing diagram**
3911 3911  
3912 -(% style="text-align:center" %)
3913 -[[image:1761033004563-270.png]]
3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3914 3914  
3915 -=== **MC _ SETTORQUE** ===
3916 3916  
3914 +
3915 +
3916 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917 +
3917 3917  MC _ SETTORQUE-Synchronous torque instruction
3918 3918  
3919 -[[image:1761033083623-162.png]]
3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3920 3920  
3921 3921  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3922 3922  
... ... @@ -3983,12 +3983,27 @@
3983 3983  
3984 3984  * This function block is not available when the axis does not exist.
3985 3985  
3986 -=== **MC _ TORQUECONTROL** ===
3987 3987  
3988 -MC _ TORQUECONTROL-Torque control command
3989 3989  
3990 -[[image:1761033167971-496.png||height="206" width="262"]]
3991 3991  
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 +
3992 3992  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3993 3993  
3994 3994  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
... ... @@ -4052,6 +4052,8 @@
4052 4052  
4053 4053  * If VD3E is used, the value of startup parameter 2001:9 is 2;
4054 4054  
4071 +
4072 +
4055 4055  **Function description**
4056 4056  
4057 4057  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
... ... @@ -4094,302 +4094,14 @@
4094 4094  
4095 4095  After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4096 4096  
4097 -(% style="text-align:center" %)
4098 -[[image:1761033264625-188.png]]
4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4099 4099  
4100 -
4101 4101  After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4102 4102  
4103 -(% style="text-align:center" %)
4104 -[[image:1761033334729-116.png]]
4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4105 4105  
4106 -=== **MC _ MOVEABSRELPP** ===
4121 +== ==
4107 4107  
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 -
4393 4393  == ==
4394 4394  
4395 4395  == **SDO instruction** ==
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