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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.2
edited by Iris
on 2025/10/22 15:12
Change comment: There is no comment for this version
To version 3.1
edited by Iris
on 2025/10/21 16:00
Change comment: There is no comment for this version

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... ... @@ -2201,9 +2201,6 @@
2201 2201  
2202 2202  
2203 2203  
2204 -
2205 -
2206 -
2207 2207  == **Management functions of axis group motion control** ==
2208 2208  
2209 2209  ----
... ... @@ -4107,9 +4107,9 @@
4107 4107  
4108 4108  === **MC _ MOVEABSRELPP** ===
4109 4109  
4110 -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
4111 4111  
4112 -[[image:1761034254689-443.png]]
4109 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4113 4113  
4114 4114  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4115 4115  
... ... @@ -4194,15 +4194,14 @@
4194 4194  
4195 4195  **Timing diagram**
4196 4196  
4194 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4197 4197  
4198 -(% style="text-align:center" %)
4199 -[[image:1761034304535-743.png]]
4200 4200  
4201 -=== **MC _ MOVEVELOCITYPV** ===
4197 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4202 4202  
4203 4203  MC _ MOVEVELOCITYPV-Contour Speed Command
4204 4204  
4205 -[[image:1761034415972-645.png]]
4201 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4206 4206  
4207 4207  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4208 4208  
... ... @@ -4289,16 +4289,17 @@
4289 4289  
4290 4290  **Timing diagram**
4291 4291  
4288 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4292 4292  
4293 -(% style="text-align:center" %)
4294 -[[image:1761034458765-139.png]]
4295 4295  
4296 -=== **MC _ TORQUECONTROLPT** ===
4297 4297  
4298 -MC _ TORQUECONTROLPT-Contour torque control command
4299 4299  
4300 -[[image:1761034544967-630.png]]
4293 +**8.7.10 MC _ TORQUECONTROLPT**
4301 4301  
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 +
4302 4302  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4303 4303  
4304 4304  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4349,6 +4349,7 @@
4349 4349  
4350 4350  0x1A00: 0x6061, 0x6077, 0x6041
4351 4351  
4349 +
4352 4352  **Function description**
4353 4353  
4354 4354  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4389,9 +4389,10 @@
4389 4389  
4390 4390  **Timing diagram**
4391 4391  
4392 -(% style="text-align:center" %)
4393 -[[image:1761034615747-763.png]]
4390 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4394 4394  
4392 +== ==
4393 +
4395 4395  == **SDO instruction** ==
4396 4396  
4397 4397  ----
... ... @@ -5168,7 +5168,6 @@
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
5171 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5172 5172  |(% colspan="3" %)**Error Stop**
5173 5173  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5174 5174  |(% colspan="3" %)**Error from servo**
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