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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 7.1
edited by Jiahao Lai
on 2025/11/05 13:54
Change comment: There is no comment for this version
To version 1.1
edited by Wecon
on 2025/09/03 21:02
Change comment: Imported from XAR

Summary

Details

Page properties
Author
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1 -XWiki.Jim258
1 +XWiki.Wecon
Content
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2199 2199  )))
2200 2200  
2201 2201  
2202 -
2203 -
2204 -
2205 -
2206 -
2207 -
2208 -
2209 -
2210 -
2211 2211  == **Management functions of axis group motion control** ==
2212 2212  
2213 2213  ----
... ... @@ -3741,661 +3741,6 @@
3741 3741  |=**Error code**|=**Content**
3742 3742  |4084H|Input data beyond the specifiable range
3743 3743  
3744 -=== **MC _ MOVEVELOCITY _ CSV** ===
3745 -
3746 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3747 -
3748 -[[image:1761032781939-478.png]]
3749 -
3750 -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.
3751 -
3752 -**Device used (only a single device can be used, device splicing and index are not supported)**
3753 -
3754 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3755 -**Index**
3756 -
3757 -**Modification**
3758 -)))|(((
3759 -**Pulse**
3760 -
3761 -**Expansion**
3762 -)))
3763 -|**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**
3764 -|(% rowspan="15" %)(((
3765 -MC _ MOVEVELOCITY
3766 -
3767 -_ CSV
3768 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3769 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3770 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3771 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3772 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3773 -|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3774 -|Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3775 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3776 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3777 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3778 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3779 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3780 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3781 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3782 -|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3783 -
3784 -**Notes:**
3785 -
3786 -* LC and HSC are signed 32-bit data types;
3787 -* T, C, D, R and SD are signed 16-bit data types.
3788 -
3789 -**Variable type used**
3790 -
3791 -|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3792 -|(% rowspan="15" %)(((
3793 -MC _ MOVE
3794 -
3795 -VELOCITY _ CSV
3796 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3797 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3798 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3799 -|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3800 -|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3801 -|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3802 -|Direction|WORD|No|[1,4]|(((
3803 -Direction flag bit (Only rotation mode takes effect）。
3804 -
3805 -~1. Positive direction;
3806 -
3807 -2. Negative direction;
3808 -
3809 -3. The current direction;
3810 -
3811 -4. The shortest path (reserved).
3812 -)))
3813 -|BufferMode|WORD|Yes|[0]|BufferMode
3814 -|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3815 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3816 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3817 -|Active|BOOL|Yes|TRUE/FALSE|Activity flag
3818 -|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3819 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3820 -|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3821 -
3822 -**Function**
3823 -
3824 -* The MC _ MoveVelocity function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
3825 -* Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
3826 -* When the speed of the controlled axis reaches the input parameter ‘Velocity’ setpoint, the output parameter ‘InVelocity’ is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter InVelocity is reset;
3827 -* The MC _ MoveVelocity function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3828 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3829 -
3830 -**Error code**
3831 -
3832 -|**Error code**|**Content**
3833 -|4084H|Input data beyond the specifiable range
3834 -
3835 -**Precautions**
3836 -
3837 -* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3838 -* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3839 -
3840 -**Timing diagram**
3841 -
3842 -
3843 -(% style="text-align:center" %)
3844 -[[image:1761032845559-339.png||height="306" width="520"]]
3845 -
3846 -=== **MC _ SYNCMOVEVELOCITY** ===
3847 -
3848 -MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3849 -
3850 -[[image:1761032974104-584.png]]
3851 -
3852 -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.
3853 -
3854 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3855 -
3856 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3857 -|**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**
3858 -|(% rowspan="8" %)(((
3859 -MC _ SYNCMOVE
3860 -
3861 -VELOCITY
3862 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3863 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3864 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3865 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3866 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3867 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3868 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3869 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3870 -
3871 -**Notes for using devices**
3872 -
3873 -* LC and HSC are signed 32-bit data types;
3874 -* T, C, D, R and SD are signed 16-bit data types.
3875 -
3876 -**Variable type used**
3877 -
3878 -|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3879 -|(% rowspan="8" %)(((
3880 -MC _ SYNCMOVE
3881 -
3882 -VELOCITY
3883 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3884 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3885 -|Axis|(((
3886 -WORD
3887 -
3888 -
3889 -)))|No|[0,65535]|Axis number and built-in variable of axis
3890 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3891 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3892 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3893 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3894 -|ErrorID|DWORD|Yes|-|(((
3895 -Error code (Please refer to
3896 -
3897 -[[8.11 Error Code>>path:#错误码对照表]]
3898 -)))
3899 -
3900 -**Function**
3901 -
3902 -* The MC _ SYNCMOVEVELOCITY function block function block is used to continue the movement of the previous function block and move according to the speed specified by the function block.
3903 -* Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
3904 -* When the speed of the controlled axis reaches the input parameter Velocity setpoint, the output parameter InVelocity is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter ‘InVelocity’ is reset;
3905 -* The MC _ SYNCMOVEVELOCITY function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3906 -* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3907 -
3908 -**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3909 -
3910 -
3911 -**Error code**
3912 -
3913 -|**Error code**|**Content**
3914 -|4084H|Input data beyond the specifiable range
3915 -
3916 -**Timing diagram**
3917 -
3918 -(% style="text-align:center" %)
3919 -[[image:1761033004563-270.png]]
3920 -
3921 -=== **MC _ SETTORQUE** ===
3922 -
3923 -MC _ SETTORQUE-Synchronous torque instruction
3924 -
3925 -[[image:1761033083623-162.png]]
3926 -
3927 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3928 -
3929 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3930 -**Index**
3931 -
3932 -**Modification**
3933 -)))|(((
3934 -**Pulse**
3935 -
3936 -**Expansion**
3937 -)))
3938 -|**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**
3939 -|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3940 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3941 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3942 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3943 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3944 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3945 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3946 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3947 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3948 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3949 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3950 -
3951 -**Notes for using devices**
3952 -
3953 -* LC and HSC are signed 32-bit data types;
3954 -* T, C, D, R and SD are signed 16-bit data types.
3955 -
3956 -**Variable type used**
3957 -
3958 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3959 -|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3960 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3961 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3962 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3963 -|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3964 -|Axis|WORD|No|[0,65535]|Axis number
3965 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3966 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3967 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
3968 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3969 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
3970 -|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3971 -
3972 -**Function**
3973 -
3974 -* This instruction is used to implement the synchronous torque control function and is only used for the bus servo axis. The rising edge and high level of the command are valid, and the virtual axis mode is not supported.
3975 -* The following PDOs need to be configured in CST mode;
3976 -
3977 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
3978 -
3979 -0x1A00: 0x6061, 0x6077, 0x6041
3980 -
3981 -* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3982 -* When Enable = ON, the function block converts TarTorque and MaxVelocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion. When the falling edge of Eanble, the function block performs synchronous torque motion with the TarTorque and Velocity latched during the high level, and it is invalid to modify the TarTorque and Velocity in real time;
3983 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3984 -* This instruction uses the driver synchronous torque mode to realize the torque control function. When Enable = ON, the function block converts TarTorque and Velocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion;
3985 -
3986 -TarTorque: The 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.
3987 -
3988 -**Note**
3989 -
3990 -* This function block is not available when the axis does not exist.
3991 -
3992 -=== **MC _ TORQUECONTROL** ===
3993 -
3994 -MC _ TORQUECONTROL-Torque control command
3995 -
3996 -[[image:1761033167971-496.png||height="206" width="262"]]
3997 -
3998 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3999 -
4000 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4001 -**Index**
4002 -
4003 -**Modification**
4004 -)))|(((
4005 -**Pulse**
4006 -
4007 -**Expansion**
4008 -)))
4009 -|**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**
4010 -|(% rowspan="13" %)(((
4011 -MC _ TORQUE
4012 -
4013 -CONTROL
4014 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4015 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4016 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4017 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4018 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4019 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4020 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4021 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4022 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4023 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4024 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4025 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4026 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4027 -
4028 -**Notes for using devices**
4029 -
4030 -* LC and HSC are signed 32-bit data types;
4031 -* T, C, D, R and SD are signed 16-bit data types.
4032 -
4033 -**Variable type used**
4034 -
4035 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4036 -|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4037 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4038 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4039 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4040 -|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4041 -|BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4042 -|Axis|WORD|No|[0,65535]|Axis number
4043 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4044 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4045 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4046 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4047 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4048 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4049 -
4050 -**Function**
4051 -
4052 -* 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 imaginary axis mode is not supported.
4053 -* The following PDOs need to be configured in CST mode:
4054 -
4055 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
4056 -
4057 -0x1A00: 0x6061, 0x6077, 0x6041
4058 -
4059 -* If VD3E is used, the value of startup parameter 2001:9 is 2;
4060 -
4061 -**Function description**
4062 -
4063 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4064 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4065 -* 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;
4066 -
4067 -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 discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4068 -
4069 -TorqueSlope: Moment slope, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded;
4070 -
4071 -* Speed control in torque mode
4072 -
4073 -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;
4074 -
4075 -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;
4076 -
4077 -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;
4078 -
4079 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4080 -
4081 -The maximum speed of the servomotor can be limited by 0x607F;
4082 -
4083 -0x607F can be configured into the PDO;
4084 -
4085 -The unit of 0x607F is pulse unit, non-speed unit.
4086 -
4087 -* Stop control on torque mode
4088 -
4089 -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.
4090 -
4091 -* Interrupt
4092 -
4093 -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;
4094 -
4095 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4096 -
4097 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4098 -
4099 -**Timing diagram**
4100 -
4101 -After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4102 -
4103 -(% style="text-align:center" %)
4104 -[[image:1761033264625-188.png]]
4105 -
4106 -
4107 -After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4108 -
4109 -(% style="text-align:center" %)
4110 -[[image:1761033334729-116.png]]
4111 -
4112 -=== **MC _ MOVEABSRELPP** ===
4113 -
4114 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4115 -
4116 -[[image:1761034254689-443.png]]
4117 -
4118 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4119 -
4120 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4121 -**Pulse**
4122 -
4123 -**Expansion**
4124 -)))
4125 -|**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**
4126 -|(% rowspan="13" %)(((
4127 -MC _ MOVEA
4128 -
4129 -BSRELPP
4130 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4131 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4132 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4133 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4134 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4135 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4137 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4139 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4140 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4141 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4142 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4143 -
4144 -**Notes for using devices**
4145 -
4146 -* LC and HSC are signed 32-bit data types;
4147 -* T, C, D, R and SD are signed 16-bit data types.
4148 -
4149 -**Variable type used**
4150 -
4151 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4152 -|(% rowspan="13" %)(((
4153 -MC _ MOVE
4154 -
4155 -ABSRELPP
4156 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4157 -|Mode|INT|No|0,1|(((
4158 -1: Absolute mode.
4159 -
4160 -1: Relative mode
4161 -)))
4162 -|Position|LREAL|No|(((
4163 --999999999.999999
4164 -
4165 -999999999.999999
4166 -)))|Target location
4167 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4168 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4169 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4170 -|Axis|WORD|No|[0,65535]|Axis number
4171 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4172 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4173 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4174 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4175 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4176 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4177 -
4178 -**Function**
4179 -
4180 -* 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.
4181 -* Contour Position Mode requires the following PDOs:
4182 -
4183 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4184 -
4185 -0x1A00: 0x6061, 0x6064, 0x6041
4186 -
4187 -**Function description**
4188 -
4189 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4190 -* 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;
4191 -* 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;
4192 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4193 -* Interrupt
4194 -
4195 -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;
4196 -
4197 -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.
4198 -
4199 -**Timing diagram**
4200 -
4201 -
4202 -(% style="text-align:center" %)
4203 -[[image:1761034304535-743.png]]
4204 -
4205 -=== **MC _ MOVEVELOCITYPV** ===
4206 -
4207 -MC _ MOVEVELOCITYPV-Contour Speed Command
4208 -
4209 -[[image:1761034415972-645.png]]
4210 -
4211 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4212 -
4213 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4214 -**Index**
4215 -
4216 -**Modification**
4217 -)))|(((
4218 -**Pulse**
4219 -
4220 -**Expansion**
4221 -)))
4222 -|**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**
4223 -|(% rowspan="11" %)(((
4224 -MC _ MOVEVELO
4225 -
4226 -CITYPV
4227 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4228 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4229 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4230 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4231 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4232 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4234 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4236 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4237 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4238 -
4239 -**Notes for using devices**
4240 -
4241 -* LC and HSC are signed 32-bit data types;
4242 -* T, C, D, R and SD are signed 16-bit data types.
4243 -
4244 -**Variable type used**
4245 -
4246 -|**Instruction**|(((
4247 -**Pin**
4248 -
4249 -**type**
4250 -)))|**Parameter**|(((
4251 -**Variable**
4252 -
4253 -**Type**
4254 -)))|(((
4255 -**Can you**
4256 -
4257 -**Is empty**
4258 -)))|**Range**|**Description**
4259 -|(% rowspan="11" %)(((
4260 -MC _ MOVEVE
4261 -
4262 -LOCITYPV
4263 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4264 -|Velocity|LREAL|No|(((
4265 --999999999.999999
4266 -
4267 -999999999.999999
4268 -)))|Velocity
4269 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4270 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4271 -|Axis|WORD|No|[0,65535]|Axis number
4272 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4273 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4274 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4275 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4276 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4277 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4278 -
4279 -**Function**
4280 -
4281 -* 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;
4282 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4283 -* The following PDOs are required for the profile speed mode:
4284 -
4285 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4286 -
4287 -0x1A00: 0x6061, 0x606c, 0x6041
4288 -
4289 -**Function description**
4290 -
4291 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4292 -* 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.
4293 -
4294 -**Timing diagram**
4295 -
4296 -
4297 -(% style="text-align:center" %)
4298 -[[image:1761034458765-139.png]]
4299 -
4300 -=== **MC _ TORQUECONTROLPT** ===
4301 -
4302 -MC _ TORQUECONTROLPT-Contour torque control command
4303 -
4304 -[[image:1761034544967-630.png]]
4305 -
4306 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4307 -
4308 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4309 -|**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**
4310 -|(% rowspan="11" %)(((
4311 -MC _ TORQUE
4312 -
4313 -CONTROLPT
4314 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4315 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4316 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4317 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4318 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4319 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4321 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4323 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4324 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4325 -
4326 -**Notes for using devices**
4327 -
4328 -* LC and HSC are signed 32-bit data types;
4329 -* T, C, D, R and SD are signed 16-bit data types.
4330 -
4331 -**Variable type used**
4332 -
4333 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4334 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4335 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4336 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4337 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4338 -|Axis|WORD|No|[0,65535]|Axis number
4339 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4340 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4341 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4342 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4343 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4344 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4345 -
4346 -**Function**
4347 -
4348 -* 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;
4349 -* 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;
4350 -* Profile torque mode needs to be configured with the following PDOs:
4351 -
4352 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4353 -
4354 -0x1A00: 0x6061, 0x6077, 0x6041
4355 -
4356 -**Function description**
4357 -
4358 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4359 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4360 -* 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;
4361 -
4362 -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;
4363 -
4364 -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.
4365 -
4366 -* Speed control in torque mode
4367 -
4368 -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;
4369 -
4370 -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;
4371 -
4372 -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;
4373 -
4374 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4375 -
4376 -The maximum speed of the servomotor can be limited by 0x607F;
4377 -
4378 -0x607F can be configured into the PDO;
4379 -
4380 -The unit of 0x607F is pulse unit, non-speed unit.
4381 -
4382 -* Stop control on torque mode
4383 -
4384 -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.
4385 -
4386 -* Interrupt
4387 -
4388 -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;
4389 -
4390 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4391 -
4392 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4393 -
4394 -**Timing diagram**
4395 -
4396 -(% style="text-align:center" %)
4397 -[[image:1761034615747-763.png]]
4398 -
4399 4399  == **SDO instruction** ==
4400 4400  
4401 4401  ----
... ... @@ -4907,20 +4907,22 @@
4907 4907  
4908 4908  Features
4909 4909  )))|(((
4910 -The arc path consists of the starting point, auxiliary points, and ending point.
4246 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4247 +
4248 +
4911 4911  )))|(((
4912 4912  
4913 4913  
4914 -The arc path consists of the starting point, the center point, and theending point.
4252 +The auxiliary point is defined as the center of the motion trajectory, so the auxiliary point should be on the perpendicular line connecting the starting point and the ending point.
4915 4915  
4916 4916  
4917 4917  
4918 4918  )))|(((
4919 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4257 +According to the right-hand grip rule, the ending point and the vector perpendicular to the plane of the circle are defined, and the length of the vector corresponds to the radius of the circle.
4920 4920  
4921 4921  The direction of the vector determines the direction of CW and CCW circles.
4922 4922  
4923 -The vector length is the radius of the arc.
4261 +The major arc and minor arc are determined by path choice.
4924 4924  )))
4925 4925  |(((
4926 4926  
... ... @@ -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
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