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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.3
edited by Iris
on 2025/10/22 15:17
Change comment: There is no comment for this version
To version 4.1
edited by Iris
on 2025/10/21 16:03
Change comment: There is no comment for this version

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Content
... ... @@ -2202,9 +2202,6 @@
2202 2202  
2203 2203  
2204 2204  
2205 -
2206 -
2207 -
2208 2208  == **Management functions of axis group motion control** ==
2209 2209  
2210 2210  ----
... ... @@ -4108,9 +4108,9 @@
4108 4108  
4109 4109  === **MC _ MOVEABSRELPP** ===
4110 4110  
4111 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4112 4112  
4113 -[[image:1761034254689-443.png]]
4110 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4114 4114  
4115 4115  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4116 4116  
... ... @@ -4195,15 +4195,14 @@
4195 4195  
4196 4196  **Timing diagram**
4197 4197  
4195 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4198 4198  
4199 -(% style="text-align:center" %)
4200 -[[image:1761034304535-743.png]]
4201 4201  
4202 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4203 4203  
4204 4204  MC _ MOVEVELOCITYPV-Contour Speed Command
4205 4205  
4206 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4207 4207  
4208 4208  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4209 4209  
... ... @@ -4290,16 +4290,17 @@
4290 4290  
4291 4291  **Timing diagram**
4292 4292  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4293 4293  
4294 -(% style="text-align:center" %)
4295 -[[image:1761034458765-139.png]]
4296 4296  
4297 -=== **MC _ TORQUECONTROLPT** ===
4298 4298  
4299 -MC _ TORQUECONTROLPT-Contour torque control command
4300 4300  
4301 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4302 4302  
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 +
4303 4303  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4304 4304  
4305 4305  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4350,6 +4350,7 @@
4350 4350  
4351 4351  0x1A00: 0x6061, 0x6077, 0x6041
4352 4352  
4350 +
4353 4353  **Function description**
4354 4354  
4355 4355  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4390,9 +4390,10 @@
4390 4390  
4391 4391  **Timing diagram**
4392 4392  
4393 -(% style="text-align:center" %)
4394 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4395 4395  
4393 +== ==
4394 +
4396 4396  == **SDO instruction** ==
4397 4397  
4398 4398  ----
... ... @@ -5169,7 +5169,6 @@
5169 5169  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5170 5170  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5171 5171  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5172 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5173 5173  |(% colspan="3" %)**Error Stop**
5174 5174  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5175 5175  |(% colspan="3" %)**Error from servo**
... ... @@ -5193,25 +5193,6 @@
5193 5193  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5194 5194  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5195 5195  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5196 -|0x00600014|(((
5197 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5198 -
5199 -OVER_LIMIT
5200 -)))|Pulse shaft HOME Velocity over limit
5201 -|0x00600015|(((
5202 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5203 -
5204 -OVER_LIMIT
5205 -)))|Pulse shaft HOME Acceleration over limit
5206 -|0x00600020|(((
5207 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5208 -
5209 -NOTMAP
5210 -)))|(((
5211 -There is no required PDO for the mode
5212 -
5213 -corresponding to mode switching.
5214 -)))
5215 5215  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5216 5216  |(% colspan="3" %)**Axis’s error**
5217 5217  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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