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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.1
edited by Iris
on 2025/10/21 16:17
Change comment: There is no comment for this version
To version 2.2
edited by Iris
on 2025/10/21 15:58
Change comment: There is no comment for this version

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... ... @@ -2201,8 +2201,6 @@
2201 2201  
2202 2202  
2203 2203  
2204 -
2205 -
2206 2206  == **Management functions of axis group motion control** ==
2207 2207  
2208 2208  ----
... ... @@ -4106,9 +4106,9 @@
4106 4106  
4107 4107  === **MC _ MOVEABSRELPP** ===
4108 4108  
4109 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4107 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4110 4110  
4111 -[[image:1761034254689-443.png]]
4109 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4112 4112  
4113 4113  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4114 4114  
... ... @@ -4193,15 +4193,14 @@
4193 4193  
4194 4194  **Timing diagram**
4195 4195  
4194 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4196 4196  
4197 -(% style="text-align:center" %)
4198 -[[image:1761034304535-743.png]]
4199 4199  
4200 -=== **MC _ MOVEVELOCITYPV** ===
4197 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4201 4201  
4202 4202  MC _ MOVEVELOCITYPV-Contour Speed Command
4203 4203  
4204 -[[image:1761034415972-645.png]]
4201 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4205 4205  
4206 4206  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4207 4207  
... ... @@ -4288,16 +4288,17 @@
4288 4288  
4289 4289  **Timing diagram**
4290 4290  
4288 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4291 4291  
4292 -(% style="text-align:center" %)
4293 -[[image:1761034458765-139.png]]
4294 4294  
4295 -=== **MC _ TORQUECONTROLPT** ===
4296 4296  
4297 -MC _ TORQUECONTROLPT-Contour torque control command
4298 4298  
4299 -[[image:1761034544967-630.png]]
4293 +**8.7.10 MC _ TORQUECONTROLPT**
4300 4300  
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 +
4301 4301  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4302 4302  
4303 4303  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4348,6 +4348,7 @@
4348 4348  
4349 4349  0x1A00: 0x6061, 0x6077, 0x6041
4350 4350  
4349 +
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;
... ... @@ -4388,9 +4388,10 @@
4388 4388  
4389 4389  **Timing diagram**
4390 4390  
4391 -(% style="text-align:center" %)
4392 -[[image:1761034615747-763.png]]
4390 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4393 4393  
4392 +== ==
4393 +
4394 4394  == **SDO instruction** ==
4395 4395  
4396 4396  ----
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