Changes for page 08 Motion Control
Last modified by Iris on 2026/04/03 10:39
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... ... @@ -2200,9 +2200,6 @@ 2200 2200 2201 2201 2202 2202 2203 - 2204 - 2205 - 2206 2206 == **Management functions of axis group motion control** == 2207 2207 2208 2208 ---- ... ... @@ -3738,9 +3738,9 @@ 3738 3738 3739 3739 === **MC _ MOVEVELOCITY _ CSV** === 3740 3740 3741 -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 3742 3742 3743 -[[image:1 761032781939-478.png]]3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]] 3744 3744 3745 3745 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. 3746 3746 ... ... @@ -3834,15 +3834,16 @@ 3834 3834 3835 3835 **Timing diagram** 3836 3836 3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]] 3837 3837 3838 -(% style="text-align:center" %) 3839 -[[image:1761032845559-339.png||height="306" width="520"]] 3840 3840 3841 -=== **MC _ SYNCMOVEVELOCITY** === 3842 3842 3838 + 3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY** 3840 + 3843 3843 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block 3844 3844 3845 -[[image:1 761032974104-584.png]]3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]] 3846 3846 3847 3847 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. 3848 3848 ... ... @@ -3910,14 +3910,16 @@ 3910 3910 3911 3911 **Timing diagram** 3912 3912 3913 -(% style="text-align:center" %) 3914 -[[image:1761033004563-270.png]] 3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]] 3915 3915 3916 -=== **MC _ SETTORQUE** === 3917 3917 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:1 761033083623-162.png]]3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]] 3921 3921 3922 3922 **Device used (only a single device can be used, and device splicing and Index are not supported)** 3923 3923 ... ... @@ -3984,12 +3984,27 @@ 3984 3984 3985 3985 * This function block is not available when the axis does not exist. 3986 3986 3987 -=== **MC _ TORQUECONTROL** === 3988 3988 3989 -MC _ TORQUECONTROL-Torque control command 3990 3990 3991 -[[image:1761033167971-496.png||height="206" width="262"]] 3992 3992 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 + 3993 3993 **Device used (only a single device can be used, and device splicing and Index are not supported)** 3994 3994 3995 3995 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|((( ... ... @@ -4053,6 +4053,8 @@ 4053 4053 4054 4054 * If VD3E is used, the value of startup parameter 2001:9 is 2; 4055 4055 4071 + 4072 + 4056 4056 **Function description** 4057 4057 4058 4058 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction; ... ... @@ -4095,301 +4095,14 @@ 4095 4095 4096 4096 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque. 4097 4097 4098 -(% style="text-align:center" %) 4099 -[[image:1761033264625-188.png]] 4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]] 4100 4100 4101 - 4102 4102 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque. 4103 4103 4104 -(% style="text-align:center" %) 4105 -[[image:1761033334729-116.png]] 4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]] 4106 4106 4107 -== =**MC_MOVEABSRELPP**===4121 +== == 4108 4108 4109 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode 4110 - 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 - 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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