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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 4.2
edited by Iris
on 2025/10/21 16:11
Change comment: There is no comment for this version

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Details

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... ... @@ -2203,10 +2203,6 @@
2203 2203  
2204 2204  
2205 2205  
2206 -
2207 -
2208 -
2209 -
2210 2210  == **Management functions of axis group motion control** ==
2211 2211  
2212 2212  ----
... ... @@ -4198,14 +4198,12 @@
4198 4198  **Timing diagram**
4199 4199  
4200 4200  
4201 -(% style="text-align:center" %)
4202 -[[image:1761034304535-743.png]]
4203 4203  
4204 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4205 4205  
4206 4206  MC _ MOVEVELOCITYPV-Contour Speed Command
4207 4207  
4208 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4209 4209  
4210 4210  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4211 4211  
... ... @@ -4292,16 +4292,17 @@
4292 4292  
4293 4293  **Timing diagram**
4294 4294  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4295 4295  
4296 -(% style="text-align:center" %)
4297 -[[image:1761034458765-139.png]]
4298 4298  
4299 -=== **MC _ TORQUECONTROLPT** ===
4300 4300  
4301 -MC _ TORQUECONTROLPT-Contour torque control command
4302 4302  
4303 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4304 4304  
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 +
4305 4305  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4306 4306  
4307 4307  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4352,6 +4352,7 @@
4352 4352  
4353 4353  0x1A00: 0x6061, 0x6077, 0x6041
4354 4354  
4350 +
4355 4355  **Function description**
4356 4356  
4357 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;
... ... @@ -4392,9 +4392,10 @@
4392 4392  
4393 4393  **Timing diagram**
4394 4394  
4395 -(% style="text-align:center" %)
4396 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4397 4397  
4393 +== ==
4394 +
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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