Changes for page 08 Motion Control
Last modified by Iris on 2026/04/03 10:39
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... ... @@ -2199,10 +2199,6 @@ 2199 2199 ))) 2200 2200 2201 2201 2202 - 2203 - 2204 - 2205 - 2206 2206 == **Management functions of axis group motion control** == 2207 2207 2208 2208 ---- ... ... @@ -3736,661 +3736,6 @@ 3736 3736 |=**Error code**|=**Content** 3737 3737 |4084H|Input data beyond the specifiable range 3738 3738 3739 -=== **MC _ MOVEVELOCITY _ CSV** === 3740 - 3741 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block 3742 - 3743 -[[image:1761032781939-478.png]] 3744 - 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 - 3747 -**Device used (only a single device can be used, device splicing and index are not supported)** 3748 - 3749 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|((( 3750 -**Index** 3751 - 3752 -**Modification** 3753 -)))|((( 3754 -**Pulse** 3755 - 3756 -**Expansion** 3757 -))) 3758 -|**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** 3759 -|(% rowspan="15" %)((( 3760 -MC _ MOVEVELOCITY 3761 - 3762 -_ CSV 3763 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3764 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3765 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | | 3766 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | | 3767 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | | 3768 -|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | | 3769 -|Direction| | | | | | | | | | | | | | | | | | | | | | | | | | 3770 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | | 3771 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 3772 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3773 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3774 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3775 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3776 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3777 -|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | | 3778 - 3779 -**Notes:** 3780 - 3781 -* LC and HSC are signed 32-bit data types; 3782 -* T, C, D, R and SD are signed 16-bit data types. 3783 - 3784 -**Variable type used** 3785 - 3786 -|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description** 3787 -|(% rowspan="15" %)((( 3788 -MC _ MOVE 3789 - 3790 -VELOCITY _ CSV 3791 -)))|Execute|BOOL|No|TRUE/FALSE|Enable 3792 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not 3793 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity 3794 -|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration 3795 -|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration 3796 -|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve. 3797 -|Direction|WORD|No|[1,4]|((( 3798 -Direction flag bit (Only rotation mode takes effect）。 3799 - 3800 -~1. Positive direction; 3801 - 3802 -2. Negative direction; 3803 - 3804 -3. The current direction; 3805 - 3806 -4. The shortest path (reserved). 3807 -))) 3808 -|BufferMode|WORD|Yes|[0]|BufferMode 3809 -|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis 3810 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit 3811 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 3812 -|Active|BOOL|Yes|TRUE/FALSE|Activity flag 3813 -|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit 3814 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not 3815 -|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]]) 3816 - 3817 -**Function** 3818 - 3819 -* 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. 3820 -* 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; 3821 -* 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; 3822 -* 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; 3823 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times. 3824 - 3825 -**Error code** 3826 - 3827 -|**Error code**|**Content** 3828 -|4084H|Input data beyond the specifiable range 3829 - 3830 -**Precautions** 3831 - 3832 -* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode; 3833 -* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO. 3834 - 3835 -**Timing diagram** 3836 - 3837 - 3838 -(% style="text-align:center" %) 3839 -[[image:1761032845559-339.png||height="306" width="520"]] 3840 - 3841 -=== **MC _ SYNCMOVEVELOCITY** === 3842 - 3843 -MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block 3844 - 3845 -[[image:1761032974104-584.png]] 3846 - 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 - 3849 -**Device used (only a single device can be used, and device splicing and Index are not supported)** 3850 - 3851 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion** 3852 -|**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** 3853 -|(% rowspan="8" %)((( 3854 -MC _ SYNCMOVE 3855 - 3856 -VELOCITY 3857 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3858 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | | 3859 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 3860 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3861 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3862 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3863 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3864 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | | 3865 - 3866 -**Notes for using devices** 3867 - 3868 -* LC and HSC are signed 32-bit data types; 3869 -* T, C, D, R and SD are signed 16-bit data types. 3870 - 3871 -**Variable type used** 3872 - 3873 -|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description** 3874 -|(% rowspan="8" %)((( 3875 -MC _ SYNCMOVE 3876 - 3877 -VELOCITY 3878 -)))|Execute|BOOL|No|TRUE/FALSE|Enable 3879 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity 3880 -|Axis|((( 3881 -WORD 3882 - 3883 - 3884 -)))|No|[0,65535]|Axis number and built-in variable of axis 3885 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit 3886 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 3887 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit 3888 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not 3889 -|ErrorID|DWORD|Yes|-|((( 3890 -Error code (Please refer to 3891 - 3892 -[[8.11 Error Code>>path:#错误码对照表]] 3893 -))) 3894 - 3895 -**Function** 3896 - 3897 -* 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. 3898 -* 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; 3899 -* 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; 3900 -* 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; 3901 -* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times. 3902 - 3903 -**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode. 3904 - 3905 - 3906 -**Error code** 3907 - 3908 -|**Error code**|**Content** 3909 -|4084H|Input data beyond the specifiable range 3910 - 3911 -**Timing diagram** 3912 - 3913 -(% style="text-align:center" %) 3914 -[[image:1761033004563-270.png]] 3915 - 3916 -=== **MC _ SETTORQUE** === 3917 - 3918 -MC _ SETTORQUE-Synchronous torque instruction 3919 - 3920 -[[image:1761033083623-162.png]] 3921 - 3922 -**Device used (only a single device can be used, and device splicing and Index are not supported)** 3923 - 3924 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|((( 3925 -**Index** 3926 - 3927 -**Modification** 3928 -)))|((( 3929 -**Pulse** 3930 - 3931 -**Expansion** 3932 -))) 3933 -|**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** 3934 -|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3935 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | | 3936 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | | 3937 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | | 3938 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 3939 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3940 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3941 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3942 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3943 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 3944 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | | 3945 - 3946 -**Notes for using devices** 3947 - 3948 -* LC and HSC are signed 32-bit data types; 3949 -* T, C, D, R and SD are signed 16-bit data types. 3950 - 3951 -**Variable type used** 3952 - 3953 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description** 3954 -|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable 3955 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation 3956 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%) 3957 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed 3958 -|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported 3959 -|Axis|WORD|No|[0,65535]|Axis number 3960 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag 3961 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 3962 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag 3963 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag 3964 -|Error|BOOL|Yes|TRUE/FALSE|Error or not 3965 -|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]]) 3966 - 3967 -**Function** 3968 - 3969 -* 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. 3970 -* The following PDOs need to be configured in CST mode; 3971 - 3972 -0x1600: 0x6060, 0x6071, 607f (optional), 6040 3973 - 3974 -0x1A00: 0x6061, 0x6077, 0x6041 3975 - 3976 -* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2; 3977 -* 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; 3978 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction; 3979 -* 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; 3980 - 3981 -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. 3982 - 3983 -**Note** 3984 - 3985 -* This function block is not available when the axis does not exist. 3986 - 3987 -=== **MC _ TORQUECONTROL** === 3988 - 3989 -MC _ TORQUECONTROL-Torque control command 3990 - 3991 -[[image:1761033167971-496.png||height="206" width="262"]] 3992 - 3993 -**Device used (only a single device can be used, and device splicing and Index are not supported)** 3994 - 3995 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|((( 3996 -**Index** 3997 - 3998 -**Modification** 3999 -)))|((( 4000 -**Pulse** 4001 - 4002 -**Expansion** 4003 -))) 4004 -|**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** 4005 -|(% rowspan="13" %)((( 4006 -MC _ TORQUE 4007 - 4008 -CONTROL 4009 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4010 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4011 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | | 4012 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | | 4013 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | | 4014 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | | 4015 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 4016 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4017 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4018 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4019 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4020 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4021 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | | 4022 - 4023 -**Notes for using devices** 4024 - 4025 -* LC and HSC are signed 32-bit data types; 4026 -* T, C, D, R and SD are signed 16-bit data types. 4027 - 4028 -**Variable type used** 4029 - 4030 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description** 4031 -|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable 4032 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation 4033 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%） 4034 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed 4035 -|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope 4036 -|BufferMode|WORD|Yes|[0]|Only interrupt mode supported 4037 -|Axis|WORD|No|[0,65535]|Axis number 4038 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag 4039 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 4040 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag 4041 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag 4042 -|Error|BOOL|Yes|TRUE/FALSE|Error or not 4043 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]]) 4044 - 4045 -**Function** 4046 - 4047 -* 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. 4048 -* The following PDOs need to be configured in CST mode: 4049 - 4050 -0x1600: 0x6060, 0x6071, 607f (optional), 6040 4051 - 4052 -0x1A00: 0x6061, 0x6077, 0x6041 4053 - 4054 -* If VD3E is used, the value of startup parameter 2001:9 is 2; 4055 - 4056 -**Function description** 4057 - 4058 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction; 4059 -* This instruction uses the driver synchronous torque mode to realize the torque control function; 4060 -* 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; 4061 - 4062 -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; 4063 - 4064 -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; 4065 - 4066 -* Speed control in torque mode 4067 - 4068 -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; 4069 - 4070 -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; 4071 - 4072 -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; 4073 - 4074 -For third-party drives, Velocity can only be used as a speed limit under the following conditions: 4075 - 4076 -The maximum speed of the servomotor can be limited by 0x607F; 4077 - 4078 -0x607F can be configured into the PDO; 4079 - 4080 -The unit of 0x607F is pulse unit, non-speed unit. 4081 - 4082 -* Stop control on torque mode 4083 - 4084 -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. 4085 - 4086 -* Interrupt 4087 - 4088 -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; 4089 - 4090 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration; 4091 - 4092 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid. 4093 - 4094 -**Timing diagram** 4095 - 4096 -After setting the target torque, the command is triggered, and the actual output torque can reach the target torque. 4097 - 4098 -(% style="text-align:center" %) 4099 -[[image:1761033264625-188.png]] 4100 - 4101 - 4102 -After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque. 4103 - 4104 -(% style="text-align:center" %) 4105 -[[image:1761033334729-116.png]] 4106 - 4107 -=== **MC _ MOVEABSRELPP** === 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 -(% style="text-align:center" %) 4198 -[[image:1761034304535-743.png]] 4199 - 4200 -=== **MC _ MOVEVELOCITYPV** === 4201 - 4202 -MC _ MOVEVELOCITYPV-Contour Speed Command 4203 - 4204 -[[image:1761034415972-645.png]] 4205 - 4206 -**Device used (only a single device can be used, and device splicing and Index are not supported)** 4207 - 4208 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|((( 4209 -**Index** 4210 - 4211 -**Modification** 4212 -)))|((( 4213 -**Pulse** 4214 - 4215 -**Expansion** 4216 -))) 4217 -|**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** 4218 -|(% rowspan="11" %)((( 4219 -MC _ MOVEVELO 4220 - 4221 -CITYPV 4222 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4223 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | | 4224 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | | 4225 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | | 4226 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 4227 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4228 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4229 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4230 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4231 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4232 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | | 4233 - 4234 -**Notes for using devices** 4235 - 4236 -* LC and HSC are signed 32-bit data types; 4237 -* T, C, D, R and SD are signed 16-bit data types. 4238 - 4239 -**Variable type used** 4240 - 4241 -|**Instruction**|((( 4242 -**Pin** 4243 - 4244 -**type** 4245 -)))|**Parameter**|((( 4246 -**Variable** 4247 - 4248 -**Type** 4249 -)))|((( 4250 -**Can you** 4251 - 4252 -**Is empty** 4253 -)))|**Range**|**Description** 4254 -|(% rowspan="11" %)((( 4255 -MC _ MOVEVE 4256 - 4257 -LOCITYPV 4258 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable 4259 -|Velocity|LREAL|No|((( 4260 --999999999.999999 4261 - 4262 -999999999.999999 4263 -)))|Velocity 4264 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration 4265 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration 4266 -|Axis|WORD|No|[0,65535]|Axis number 4267 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag 4268 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 4269 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag 4270 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag 4271 -|Error|BOOL|Yes|TRUE/FALSE|Error or not 4272 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]]) 4273 - 4274 -**Function** 4275 - 4276 -* 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; 4277 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode; 4278 -* The following PDOs are required for the profile speed mode: 4279 - 4280 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040 4281 - 4282 -0x1A00: 0x6061, 0x606c, 0x6041 4283 - 4284 -**Function description** 4285 - 4286 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction; 4287 -* 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. 4288 - 4289 -**Timing diagram** 4290 - 4291 - 4292 -(% style="text-align:center" %) 4293 -[[image:1761034458765-139.png]] 4294 - 4295 -=== **MC _ TORQUECONTROLPT** === 4296 - 4297 -MC _ TORQUECONTROLPT-Contour torque control command 4298 - 4299 -[[image:1761034544967-630.png]] 4300 - 4301 -**Device used (only a single device can be used, and device splicing and Index are not supported)** 4302 - 4303 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion** 4304 -|**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** 4305 -|(% rowspan="11" %)((( 4306 -MC _ TORQUE 4307 - 4308 -CONTROLPT 4309 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4310 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | | 4311 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | | 4312 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | | 4313 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | | 4314 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4315 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4316 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4317 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4318 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | | 4319 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | | 4320 - 4321 -**Notes for using devices** 4322 - 4323 -* LC and HSC are signed 32-bit data types; 4324 -* T, C, D, R and SD are signed 16-bit data types. 4325 - 4326 -**Variable type used** 4327 - 4328 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description** 4329 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable 4330 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%) 4331 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope 4332 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed 4333 -|Axis|WORD|No|[0,65535]|Axis number 4334 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag 4335 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag 4336 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag 4337 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag 4338 -|Error|BOOL|Yes|TRUE/FALSE|Error or not 4339 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]]) 4340 - 4341 -**Function** 4342 - 4343 -* 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; 4344 -* 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; 4345 -* Profile torque mode needs to be configured with the following PDOs: 4346 - 4347 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040 4348 - 4349 -0x1A00: 0x6061, 0x6077, 0x6041 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 -(% style="text-align:center" %) 4392 -[[image:1761034615747-763.png]] 4393 - 4394 4394 == **SDO instruction** == 4395 4395 4396 4396 ----
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