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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 4.2
edited by Iris
on 2025/10/21 16:11
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

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... ... @@ -2203,6 +2203,10 @@
2203 2203  
2204 2204  
2205 2205  
2206 +
2207 +
2208 +
2209 +
2206 2206  == **Management functions of axis group motion control** ==
2207 2207  
2208 2208  ----
... ... @@ -4194,12 +4194,14 @@
4194 4194  **Timing diagram**
4195 4195  
4196 4196  
4201 +(% style="text-align:center" %)
4202 +[[image:1761034304535-743.png]]
4197 4197  
4198 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4204 +=== **MC _ MOVEVELOCITYPV** ===
4199 4199  
4200 4200  MC _ MOVEVELOCITYPV-Contour Speed Command
4201 4201  
4202 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4208 +[[image:1761034415972-645.png]]
4203 4203  
4204 4204  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4205 4205  
... ... @@ -4286,17 +4286,16 @@
4286 4286  
4287 4287  **Timing diagram**
4288 4288  
4289 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4290 4290  
4296 +(% style="text-align:center" %)
4297 +[[image:1761034458765-139.png]]
4291 4291  
4299 +=== **MC _ TORQUECONTROLPT** ===
4292 4292  
4301 +MC _ TORQUECONTROLPT-Contour torque control command
4293 4293  
4294 -**8.7.10 MC _ TORQUECONTROLPT**
4303 +[[image:1761034544967-630.png]]
4295 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 4300  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4301 4301  
4302 4302  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4347,7 +4347,6 @@
4347 4347  
4348 4348  0x1A00: 0x6061, 0x6077, 0x6041
4349 4349  
4350 -
4351 4351  **Function description**
4352 4352  
4353 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;
... ... @@ -4388,10 +4388,9 @@
4388 4388  
4389 4389  **Timing diagram**
4390 4390  
4391 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4395 +(% style="text-align:center" %)
4396 +[[image:1761034615747-763.png]]
4392 4392  
4393 -== ==
4394 -
4395 4395  == **SDO instruction** ==
4396 4396  
4397 4397  ----
... ... @@ -5168,6 +5168,7 @@
5168 5168  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5169 5169  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5170 5170  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5174 +|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5171 5171  |(% colspan="3" %)**Error Stop**
5172 5172  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5173 5173  |(% colspan="3" %)**Error from servo**
... ... @@ -5191,6 +5191,25 @@
5191 5191  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5192 5192  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5193 5193  |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 +)))
5194 5194  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5195 5195  |(% colspan="3" %)**Axis’s error**
5196 5196  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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