Skip to Content

Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.4
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

Summary

Details

Page properties
Content
... ... @@ -2202,10 +2202,6 @@
2202 2202  
2203 2203  
2204 2204  
2205 -
2206 -
2207 -
2208 -
2209 2209  == **Management functions of axis group motion control** ==
2210 2210  
2211 2211  ----
... ... @@ -4109,9 +4109,9 @@
4109 4109  
4110 4110  === **MC _ MOVEABSRELPP** ===
4111 4111  
4112 -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
4113 4113  
4114 -[[image:1761034254689-443.png]]
4110 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4115 4115  
4116 4116  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4117 4117  
... ... @@ -4196,15 +4196,14 @@
4196 4196  
4197 4197  **Timing diagram**
4198 4198  
4195 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4199 4199  
4200 -(% style="text-align:center" %)
4201 -[[image:1761034304535-743.png]]
4202 4202  
4203 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4204 4204  
4205 4205  MC _ MOVEVELOCITYPV-Contour Speed Command
4206 4206  
4207 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4208 4208  
4209 4209  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4210 4210  
... ... @@ -4291,16 +4291,17 @@
4291 4291  
4292 4292  **Timing diagram**
4293 4293  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4294 4294  
4295 -(% style="text-align:center" %)
4296 -[[image:1761034458765-139.png]]
4297 4297  
4298 -=== **MC _ TORQUECONTROLPT** ===
4299 4299  
4300 -MC _ TORQUECONTROLPT-Contour torque control command
4301 4301  
4302 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4303 4303  
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 +
4304 4304  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4305 4305  
4306 4306  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4351,6 +4351,7 @@
4351 4351  
4352 4352  0x1A00: 0x6061, 0x6077, 0x6041
4353 4353  
4350 +
4354 4354  **Function description**
4355 4355  
4356 4356  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4391,9 +4391,10 @@
4391 4391  
4392 4392  **Timing diagram**
4393 4393  
4394 -(% style="text-align:center" %)
4395 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4396 4396  
4393 +== ==
4394 +
4397 4397  == **SDO instruction** ==
4398 4398  
4399 4399  ----
... ... @@ -5170,7 +5170,6 @@
5170 5170  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5171 5171  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5172 5172  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5173 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5174 5174  |(% colspan="3" %)**Error Stop**
5175 5175  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5176 5176  |(% colspan="3" %)**Error from servo**
... ... @@ -5194,25 +5194,6 @@
5194 5194  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5195 5195  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5196 5196  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5197 -|0x00600014|(((
5198 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5199 -
5200 -OVER_LIMIT
5201 -)))|Pulse shaft HOME Velocity over limit
5202 -|0x00600015|(((
5203 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5204 -
5205 -OVER_LIMIT
5206 -)))|Pulse shaft HOME Acceleration over limit
5207 -|0x00600020|(((
5208 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5209 -
5210 -NOTMAP
5211 -)))|(((
5212 -There is no required PDO for the mode
5213 -
5214 -corresponding to mode switching.
5215 -)))
5216 5216  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5217 5217  |(% colspan="3" %)**Axis’s error**
5218 5218  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
1761034254689-443.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -35.3 KB
Content
1761034304535-743.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -32.6 KB
Content
1761034415972-645.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -34.2 KB
Content
1761034458765-139.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -37.2 KB
Content
1761034544967-630.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -29.7 KB
Content
1761034615747-763.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Iris
Size
... ... @@ -1,1 +1,0 @@
1 -38.8 KB
Content