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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 6.1
edited by Iris
on 2025/10/22 15:18
Change comment: There is no comment for this version
To version 2.1
edited by Iris
on 2025/10/21 15:41
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -2200,13 +2200,6 @@
2200 2200  
2201 2201  
2202 2202  
2203 -
2204 -
2205 -
2206 -
2207 -
2208 -
2209 -
2210 2210  == **Management functions of axis group motion control** ==
2211 2211  
2212 2212  ----
... ... @@ -3742,9 +3742,9 @@
3742 3742  
3743 3743  === **MC _ MOVEVELOCITY _ CSV** ===
3744 3744  
3745 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3738 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps1.png]]MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3746 3746  
3747 -[[image:1761032781939-478.png]]
3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3748 3748  
3749 3749  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.
3750 3750  
... ... @@ -3838,15 +3838,16 @@
3838 3838  
3839 3839  **Timing diagram**
3840 3840  
3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3841 3841  
3842 -(% style="text-align:center" %)
3843 -[[image:1761032845559-339.png||height="306" width="520"]]
3844 3844  
3845 -=== **MC _ SYNCMOVEVELOCITY** ===
3846 3846  
3838 +
3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840 +
3847 3847  MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3848 3848  
3849 -[[image:1761032974104-584.png]]
3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3850 3850  
3851 3851  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.
3852 3852  
... ... @@ -3914,14 +3914,16 @@
3914 3914  
3915 3915  **Timing diagram**
3916 3916  
3917 -(% style="text-align:center" %)
3918 -[[image:1761033004563-270.png]]
3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3919 3919  
3920 -=== **MC _ SETTORQUE** ===
3921 3921  
3914 +
3915 +
3916 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917 +
3922 3922  MC _ SETTORQUE-Synchronous torque instruction
3923 3923  
3924 -[[image:1761033083623-162.png]]
3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3925 3925  
3926 3926  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3927 3927  
... ... @@ -3988,12 +3988,27 @@
3988 3988  
3989 3989  * This function block is not available when the axis does not exist.
3990 3990  
3991 -=== **MC _ TORQUECONTROL** ===
3992 3992  
3993 -MC _ TORQUECONTROL-Torque control command
3994 3994  
3995 -[[image:1761033167971-496.png||height="206" width="262"]]
3996 3996  
3990 +
3991 +
3992 +
3993 +
3994 +
3995 +
3996 +
3997 +
3998 +
3999 +
4000 +
4001 +
4002 +**8.7.7 MC _ TORQUECONTROL**
4003 +
4004 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps9.png]]MC _ TORQUECONTROL-Torque control command
4005 +
4006 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps10.jpg]]
4007 +
3997 3997  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3998 3998  
3999 3999  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
... ... @@ -4057,6 +4057,8 @@
4057 4057  
4058 4058  * If VD3E is used, the value of startup parameter 2001:9 is 2;
4059 4059  
4071 +
4072 +
4060 4060  **Function description**
4061 4061  
4062 4062  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
... ... @@ -4099,302 +4099,16 @@
4099 4099  
4100 4100  After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4101 4101  
4102 -(% style="text-align:center" %)
4103 -[[image:1761033264625-188.png]]
4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4104 4104  
4105 -
4106 4106  After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4107 4107  
4108 -(% style="text-align:center" %)
4109 -[[image:1761033334729-116.png]]
4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4110 4110  
4111 -=== **MC _ MOVEABSRELPP** ===
4121 +== ==
4112 4112  
4113 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4123 +== ==
4114 4114  
4115 -[[image:1761034254689-443.png]]
4116 -
4117 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4118 -
4119 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4120 -**Pulse**
4121 -
4122 -**Expansion**
4123 -)))
4124 -|**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**
4125 -|(% rowspan="13" %)(((
4126 -MC _ MOVEA
4127 -
4128 -BSRELPP
4129 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4130 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4131 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4132 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4133 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4134 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4135 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4137 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4139 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4140 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4141 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4142 -
4143 -**Notes for using devices**
4144 -
4145 -* LC and HSC are signed 32-bit data types;
4146 -* T, C, D, R and SD are signed 16-bit data types.
4147 -
4148 -**Variable type used**
4149 -
4150 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4151 -|(% rowspan="13" %)(((
4152 -MC _ MOVE
4153 -
4154 -ABSRELPP
4155 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4156 -|Mode|INT|No|0,1|(((
4157 -1: Absolute mode.
4158 -
4159 -1: Relative mode
4160 -)))
4161 -|Position|LREAL|No|(((
4162 --999999999.999999
4163 -
4164 -999999999.999999
4165 -)))|Target location
4166 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4167 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4168 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4169 -|Axis|WORD|No|[0,65535]|Axis number
4170 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4171 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4172 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4173 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4174 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4175 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4176 -
4177 -**Function**
4178 -
4179 -* 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.
4180 -* Contour Position Mode requires the following PDOs:
4181 -
4182 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4183 -
4184 -0x1A00: 0x6061, 0x6064, 0x6041
4185 -
4186 -**Function description**
4187 -
4188 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4189 -* 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;
4190 -* 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;
4191 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4192 -* Interrupt
4193 -
4194 -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;
4195 -
4196 -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.
4197 -
4198 -**Timing diagram**
4199 -
4200 -
4201 -(% style="text-align:center" %)
4202 -[[image:1761034304535-743.png]]
4203 -
4204 -=== **MC _ MOVEVELOCITYPV** ===
4205 -
4206 -MC _ MOVEVELOCITYPV-Contour Speed Command
4207 -
4208 -[[image:1761034415972-645.png]]
4209 -
4210 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4211 -
4212 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4213 -**Index**
4214 -
4215 -**Modification**
4216 -)))|(((
4217 -**Pulse**
4218 -
4219 -**Expansion**
4220 -)))
4221 -|**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**
4222 -|(% rowspan="11" %)(((
4223 -MC _ MOVEVELO
4224 -
4225 -CITYPV
4226 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4227 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4228 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4229 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4230 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4231 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4232 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4234 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4236 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4237 -
4238 -**Notes for using devices**
4239 -
4240 -* LC and HSC are signed 32-bit data types;
4241 -* T, C, D, R and SD are signed 16-bit data types.
4242 -
4243 -**Variable type used**
4244 -
4245 -|**Instruction**|(((
4246 -**Pin**
4247 -
4248 -**type**
4249 -)))|**Parameter**|(((
4250 -**Variable**
4251 -
4252 -**Type**
4253 -)))|(((
4254 -**Can you**
4255 -
4256 -**Is empty**
4257 -)))|**Range**|**Description**
4258 -|(% rowspan="11" %)(((
4259 -MC _ MOVEVE
4260 -
4261 -LOCITYPV
4262 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4263 -|Velocity|LREAL|No|(((
4264 --999999999.999999
4265 -
4266 -999999999.999999
4267 -)))|Velocity
4268 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4269 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4270 -|Axis|WORD|No|[0,65535]|Axis number
4271 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4272 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4273 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4274 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4275 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4276 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4277 -
4278 -**Function**
4279 -
4280 -* 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;
4281 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4282 -* The following PDOs are required for the profile speed mode:
4283 -
4284 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4285 -
4286 -0x1A00: 0x6061, 0x606c, 0x6041
4287 -
4288 -**Function description**
4289 -
4290 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4291 -* 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.
4292 -
4293 -**Timing diagram**
4294 -
4295 -
4296 -(% style="text-align:center" %)
4297 -[[image:1761034458765-139.png]]
4298 -
4299 -=== **MC _ TORQUECONTROLPT** ===
4300 -
4301 -MC _ TORQUECONTROLPT-Contour torque control command
4302 -
4303 -[[image:1761034544967-630.png]]
4304 -
4305 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4306 -
4307 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4308 -|**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**
4309 -|(% rowspan="11" %)(((
4310 -MC _ TORQUE
4311 -
4312 -CONTROLPT
4313 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4314 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4315 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4316 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4317 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4318 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4319 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4321 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4323 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4324 -
4325 -**Notes for using devices**
4326 -
4327 -* LC and HSC are signed 32-bit data types;
4328 -* T, C, D, R and SD are signed 16-bit data types.
4329 -
4330 -**Variable type used**
4331 -
4332 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4333 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4334 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4335 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4336 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4337 -|Axis|WORD|No|[0,65535]|Axis number
4338 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4339 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4340 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4341 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4342 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4343 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4344 -
4345 -**Function**
4346 -
4347 -* 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;
4348 -* 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;
4349 -* Profile torque mode needs to be configured with the following PDOs:
4350 -
4351 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4352 -
4353 -0x1A00: 0x6061, 0x6077, 0x6041
4354 -
4355 -**Function description**
4356 -
4357 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4358 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4359 -* 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;
4360 -
4361 -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;
4362 -
4363 -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.
4364 -
4365 -* Speed control in torque mode
4366 -
4367 -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;
4368 -
4369 -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;
4370 -
4371 -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;
4372 -
4373 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4374 -
4375 -The maximum speed of the servomotor can be limited by 0x607F;
4376 -
4377 -0x607F can be configured into the PDO;
4378 -
4379 -The unit of 0x607F is pulse unit, non-speed unit.
4380 -
4381 -* Stop control on torque mode
4382 -
4383 -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.
4384 -
4385 -* Interrupt
4386 -
4387 -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;
4388 -
4389 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4390 -
4391 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4392 -
4393 -**Timing diagram**
4394 -
4395 -(% style="text-align:center" %)
4396 -[[image:1761034615747-763.png]]
4397 -
4398 4398  == **SDO instruction** ==
4399 4399  
4400 4400  ----
... ... @@ -5171,7 +5171,6 @@
5171 5171  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5172 5172  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5173 5173  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5174 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5175 5175  |(% colspan="3" %)**Error Stop**
5176 5176  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5177 5177  |(% colspan="3" %)**Error from servo**
... ... @@ -5195,25 +5195,6 @@
5195 5195  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5196 5196  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5197 5197  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5198 -|0x00600014|(((
5199 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5200 -
5201 -OVER_LIMIT
5202 -)))|Pulse shaft HOME Velocity over limit
5203 -|0x00600015|(((
5204 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5205 -
5206 -OVER_LIMIT
5207 -)))|Pulse shaft HOME Acceleration over limit
5208 -|0x00600020|(((
5209 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5210 -
5211 -NOTMAP
5212 -)))|(((
5213 -There is no required PDO for the mode
5214 -
5215 -corresponding to mode switching.
5216 -)))
5217 5217  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5218 5218  |(% colspan="3" %)**Axis’s error**
5219 5219  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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