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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 8.1
edited by Iris
on 2025/12/24 16:39
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
... ... @@ -1,1 +1,1 @@
1 -XWiki.Iris
1 +XWiki.Wecon
Content
... ... @@ -814,9 +814,6 @@
814 814  Precautions
815 815  
816 816  * This function block is not available when the axis does not exist.
817 -* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
818 -* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
819 -* In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
820 820  
821 821  Error code
822 822  
... ... @@ -2202,16 +2202,6 @@
2202 2202  )))
2203 2203  
2204 2204  
2205 -
2206 -
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 2215  == **Management functions of axis group motion control** ==
2216 2216  
2217 2217  ----
... ... @@ -3745,661 +3745,6 @@
3745 3745  |=**Error code**|=**Content**
3746 3746  |4084H|Input data beyond the specifiable range
3747 3747  
3748 -=== **MC _ MOVEVELOCITY _ CSV** ===
3749 -
3750 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3751 -
3752 -[[image:1761032781939-478.png]]
3753 -
3754 -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.
3755 -
3756 -**Device used (only a single device can be used, device splicing and index are not supported)**
3757 -
3758 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3759 -**Index**
3760 -
3761 -**Modification**
3762 -)))|(((
3763 -**Pulse**
3764 -
3765 -**Expansion**
3766 -)))
3767 -|**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**
3768 -|(% rowspan="15" %)(((
3769 -MC _ MOVEVELOCITY
3770 -
3771 -_ CSV
3772 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3773 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3775 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3776 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3777 -|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3778 -|Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3779 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3780 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3781 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3782 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3783 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3784 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3785 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3786 -|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3787 -
3788 -**Notes:**
3789 -
3790 -* LC and HSC are signed 32-bit data types;
3791 -* T, C, D, R and SD are signed 16-bit data types.
3792 -
3793 -**Variable type used**
3794 -
3795 -|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3796 -|(% rowspan="15" %)(((
3797 -MC _ MOVE
3798 -
3799 -VELOCITY _ CSV
3800 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3801 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3802 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3803 -|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3804 -|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3805 -|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3806 -|Direction|WORD|No|[1,4]|(((
3807 -Direction flag bit (Only rotation mode takes effect）。
3808 -
3809 -~1. Positive direction;
3810 -
3811 -2. Negative direction;
3812 -
3813 -3. The current direction;
3814 -
3815 -4. The shortest path (reserved).
3816 -)))
3817 -|BufferMode|WORD|Yes|[0]|BufferMode
3818 -|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3819 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3820 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3821 -|Active|BOOL|Yes|TRUE/FALSE|Activity flag
3822 -|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3823 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3824 -|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3825 -
3826 -**Function**
3827 -
3828 -* 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.
3829 -* 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;
3830 -* 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;
3831 -* 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;
3832 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3833 -
3834 -**Error code**
3835 -
3836 -|**Error code**|**Content**
3837 -|4084H|Input data beyond the specifiable range
3838 -
3839 -**Precautions**
3840 -
3841 -* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3842 -* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3843 -
3844 -**Timing diagram**
3845 -
3846 -
3847 -(% style="text-align:center" %)
3848 -[[image:1761032845559-339.png||height="306" width="520"]]
3849 -
3850 -=== **MC _ SYNCMOVEVELOCITY** ===
3851 -
3852 -MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3853 -
3854 -[[image:1761032974104-584.png]]
3855 -
3856 -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.
3857 -
3858 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3859 -
3860 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3861 -|**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**
3862 -|(% rowspan="8" %)(((
3863 -MC _ SYNCMOVE
3864 -
3865 -VELOCITY
3866 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3867 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3868 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3869 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3870 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3871 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3872 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3873 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3874 -
3875 -**Notes for using devices**
3876 -
3877 -* LC and HSC are signed 32-bit data types;
3878 -* T, C, D, R and SD are signed 16-bit data types.
3879 -
3880 -**Variable type used**
3881 -
3882 -|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3883 -|(% rowspan="8" %)(((
3884 -MC _ SYNCMOVE
3885 -
3886 -VELOCITY
3887 -)))|Execute|BOOL|No|TRUE/FALSE|Enable
3888 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3889 -|Axis|(((
3890 -WORD
3891 -
3892 -
3893 -)))|No|[0,65535]|Axis number and built-in variable of axis
3894 -|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3895 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3896 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3897 -|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3898 -|ErrorID|DWORD|Yes|-|(((
3899 -Error code (Please refer to
3900 -
3901 -[[8.11 Error Code>>path:#错误码对照表]]
3902 -)))
3903 -
3904 -**Function**
3905 -
3906 -* 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.
3907 -* 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;
3908 -* 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;
3909 -* 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;
3910 -* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3911 -
3912 -**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3913 -
3914 -
3915 -**Error code**
3916 -
3917 -|**Error code**|**Content**
3918 -|4084H|Input data beyond the specifiable range
3919 -
3920 -**Timing diagram**
3921 -
3922 -(% style="text-align:center" %)
3923 -[[image:1761033004563-270.png]]
3924 -
3925 -=== **MC _ SETTORQUE** ===
3926 -
3927 -MC _ SETTORQUE-Synchronous torque instruction
3928 -
3929 -[[image:1761033083623-162.png]]
3930 -
3931 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
3932 -
3933 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3934 -**Index**
3935 -
3936 -**Modification**
3937 -)))|(((
3938 -**Pulse**
3939 -
3940 -**Expansion**
3941 -)))
3942 -|**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**
3943 -|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3944 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3945 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3946 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3947 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3948 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3949 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3950 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3951 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3952 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3953 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3954 -
3955 -**Notes for using devices**
3956 -
3957 -* LC and HSC are signed 32-bit data types;
3958 -* T, C, D, R and SD are signed 16-bit data types.
3959 -
3960 -**Variable type used**
3961 -
3962 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3963 -|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3964 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3965 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3966 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3967 -|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3968 -|Axis|WORD|No|[0,65535]|Axis number
3969 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3970 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3971 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
3972 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3973 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
3974 -|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3975 -
3976 -**Function**
3977 -
3978 -* 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.
3979 -* The following PDOs need to be configured in CST mode;
3980 -
3981 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
3982 -
3983 -0x1A00: 0x6061, 0x6077, 0x6041
3984 -
3985 -* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3986 -* 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;
3987 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3988 -* 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;
3989 -
3990 -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.
3991 -
3992 -**Note**
3993 -
3994 -* This function block is not available when the axis does not exist.
3995 -
3996 -=== **MC _ TORQUECONTROL** ===
3997 -
3998 -MC _ TORQUECONTROL-Torque control command
3999 -
4000 -[[image:1761033167971-496.png||height="206" width="262"]]
4001 -
4002 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4003 -
4004 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4005 -**Index**
4006 -
4007 -**Modification**
4008 -)))|(((
4009 -**Pulse**
4010 -
4011 -**Expansion**
4012 -)))
4013 -|**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**
4014 -|(% rowspan="13" %)(((
4015 -MC _ TORQUE
4016 -
4017 -CONTROL
4018 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4019 -|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4020 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4021 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4022 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4023 -|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4024 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4025 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4026 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4027 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4028 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4029 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4030 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4031 -
4032 -**Notes for using devices**
4033 -
4034 -* LC and HSC are signed 32-bit data types;
4035 -* T, C, D, R and SD are signed 16-bit data types.
4036 -
4037 -**Variable type used**
4038 -
4039 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4040 -|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4041 -|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4042 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4043 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4044 -|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4045 -|BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4046 -|Axis|WORD|No|[0,65535]|Axis number
4047 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4048 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4049 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4050 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4051 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4052 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4053 -
4054 -**Function**
4055 -
4056 -* 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.
4057 -* The following PDOs need to be configured in CST mode:
4058 -
4059 -0x1600: 0x6060, 0x6071, 607f (optional), 6040
4060 -
4061 -0x1A00: 0x6061, 0x6077, 0x6041
4062 -
4063 -* If VD3E is used, the value of startup parameter 2001:9 is 2;
4064 -
4065 -**Function description**
4066 -
4067 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4068 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4069 -* 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;
4070 -
4071 -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;
4072 -
4073 -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;
4074 -
4075 -* Speed control in torque mode
4076 -
4077 -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;
4078 -
4079 -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;
4080 -
4081 -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;
4082 -
4083 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4084 -
4085 -The maximum speed of the servomotor can be limited by 0x607F;
4086 -
4087 -0x607F can be configured into the PDO;
4088 -
4089 -The unit of 0x607F is pulse unit, non-speed unit.
4090 -
4091 -* Stop control on torque mode
4092 -
4093 -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.
4094 -
4095 -* Interrupt
4096 -
4097 -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;
4098 -
4099 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4100 -
4101 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4102 -
4103 -**Timing diagram**
4104 -
4105 -After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4106 -
4107 -(% style="text-align:center" %)
4108 -[[image:1761033264625-188.png]]
4109 -
4110 -
4111 -After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4112 -
4113 -(% style="text-align:center" %)
4114 -[[image:1761033334729-116.png]]
4115 -
4116 -=== **MC _ MOVEABSRELPP** ===
4117 -
4118 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4119 -
4120 -[[image:1761034254689-443.png]]
4121 -
4122 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4123 -
4124 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4125 -**Pulse**
4126 -
4127 -**Expansion**
4128 -)))
4129 -|**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**
4130 -|(% rowspan="13" %)(((
4131 -MC _ MOVEA
4132 -
4133 -BSRELPP
4134 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4135 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4137 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4138 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4139 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4140 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4141 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4142 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4143 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4144 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4147 -
4148 -**Notes for using devices**
4149 -
4150 -* LC and HSC are signed 32-bit data types;
4151 -* T, C, D, R and SD are signed 16-bit data types.
4152 -
4153 -**Variable type used**
4154 -
4155 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4156 -|(% rowspan="13" %)(((
4157 -MC _ MOVE
4158 -
4159 -ABSRELPP
4160 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4161 -|Mode|INT|No|0,1|(((
4162 -1: Absolute mode.
4163 -
4164 -1: Relative mode
4165 -)))
4166 -|Position|LREAL|No|(((
4167 --999999999.999999
4168 -
4169 -999999999.999999
4170 -)))|Target location
4171 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4172 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4173 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4174 -|Axis|WORD|No|[0,65535]|Axis number
4175 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4176 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4177 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4178 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4179 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4180 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4181 -
4182 -**Function**
4183 -
4184 -* 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.
4185 -* Contour Position Mode requires the following PDOs:
4186 -
4187 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4188 -
4189 -0x1A00: 0x6061, 0x6064, 0x6041
4190 -
4191 -**Function description**
4192 -
4193 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4194 -* 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;
4195 -* 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;
4196 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4197 -* Interrupt
4198 -
4199 -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;
4200 -
4201 -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.
4202 -
4203 -**Timing diagram**
4204 -
4205 -
4206 -(% style="text-align:center" %)
4207 -[[image:1761034304535-743.png]]
4208 -
4209 -=== **MC _ MOVEVELOCITYPV** ===
4210 -
4211 -MC _ MOVEVELOCITYPV-Contour Speed Command
4212 -
4213 -[[image:1761034415972-645.png]]
4214 -
4215 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4216 -
4217 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4218 -**Index**
4219 -
4220 -**Modification**
4221 -)))|(((
4222 -**Pulse**
4223 -
4224 -**Expansion**
4225 -)))
4226 -|**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**
4227 -|(% rowspan="11" %)(((
4228 -MC _ MOVEVELO
4229 -
4230 -CITYPV
4231 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4232 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4233 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4234 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4235 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4236 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4237 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4238 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4239 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4242 -
4243 -**Notes for using devices**
4244 -
4245 -* LC and HSC are signed 32-bit data types;
4246 -* T, C, D, R and SD are signed 16-bit data types.
4247 -
4248 -**Variable type used**
4249 -
4250 -|**Instruction**|(((
4251 -**Pin**
4252 -
4253 -**type**
4254 -)))|**Parameter**|(((
4255 -**Variable**
4256 -
4257 -**Type**
4258 -)))|(((
4259 -**Can you**
4260 -
4261 -**Is empty**
4262 -)))|**Range**|**Description**
4263 -|(% rowspan="11" %)(((
4264 -MC _ MOVEVE
4265 -
4266 -LOCITYPV
4267 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4268 -|Velocity|LREAL|No|(((
4269 --999999999.999999
4270 -
4271 -999999999.999999
4272 -)))|Velocity
4273 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4274 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4275 -|Axis|WORD|No|[0,65535]|Axis number
4276 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4277 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4278 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4279 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4280 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4281 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4282 -
4283 -**Function**
4284 -
4285 -* 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;
4286 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4287 -* The following PDOs are required for the profile speed mode:
4288 -
4289 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4290 -
4291 -0x1A00: 0x6061, 0x606c, 0x6041
4292 -
4293 -**Function description**
4294 -
4295 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4296 -* 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.
4297 -
4298 -**Timing diagram**
4299 -
4300 -
4301 -(% style="text-align:center" %)
4302 -[[image:1761034458765-139.png]]
4303 -
4304 -=== **MC _ TORQUECONTROLPT** ===
4305 -
4306 -MC _ TORQUECONTROLPT-Contour torque control command
4307 -
4308 -[[image:1761034544967-630.png]]
4309 -
4310 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4311 -
4312 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4313 -|**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**
4314 -|(% rowspan="11" %)(((
4315 -MC _ TORQUE
4316 -
4317 -CONTROLPT
4318 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4319 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4320 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4321 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4322 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4323 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4324 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4325 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4326 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4329 -
4330 -**Notes for using devices**
4331 -
4332 -* LC and HSC are signed 32-bit data types;
4333 -* T, C, D, R and SD are signed 16-bit data types.
4334 -
4335 -**Variable type used**
4336 -
4337 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4338 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4339 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4340 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4341 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4342 -|Axis|WORD|No|[0,65535]|Axis number
4343 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4344 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4345 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4346 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4347 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4348 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4349 -
4350 -**Function**
4351 -
4352 -* 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;
4353 -* 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;
4354 -* Profile torque mode needs to be configured with the following PDOs:
4355 -
4356 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4357 -
4358 -0x1A00: 0x6061, 0x6077, 0x6041
4359 -
4360 -**Function description**
4361 -
4362 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4363 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4364 -* 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;
4365 -
4366 -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;
4367 -
4368 -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.
4369 -
4370 -* Speed control in torque mode
4371 -
4372 -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;
4373 -
4374 -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;
4375 -
4376 -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;
4377 -
4378 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4379 -
4380 -The maximum speed of the servomotor can be limited by 0x607F;
4381 -
4382 -0x607F can be configured into the PDO;
4383 -
4384 -The unit of 0x607F is pulse unit, non-speed unit.
4385 -
4386 -* Stop control on torque mode
4387 -
4388 -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.
4389 -
4390 -* Interrupt
4391 -
4392 -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;
4393 -
4394 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4395 -
4396 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4397 -
4398 -**Timing diagram**
4399 -
4400 -(% style="text-align:center" %)
4401 -[[image:1761034615747-763.png]]
4402 -
4403 4403  == **SDO instruction** ==
4404 4404  
4405 4405  ----
... ... @@ -4911,20 +4911,22 @@
4911 4911  
4912 4912  Features
4913 4913  )))|(((
4914 -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 +
4915 4915  )))|(((
4916 4916  
4917 4917  
4918 -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.
4919 4919  
4920 4920  
4921 4921  
4922 4922  )))|(((
4923 -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.
4924 4924  
4925 4925  The direction of the vector determines the direction of CW and CCW circles.
4926 4926  
4927 -The vector length is the radius of the arc.
4261 +The major arc and minor arc are determined by path choice.
4928 4928  )))
4929 4929  |(((
4930 4930  
... ... @@ -5174,7 +5174,6 @@
5174 5174  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5175 5175  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5176 5176  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5177 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5178 5178  |(% colspan="3" %)**Error Stop**
5179 5179  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5180 5180  |(% colspan="3" %)**Error from servo**
... ... @@ -5198,25 +5198,6 @@
5198 5198  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5199 5199  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5200 5200  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5201 -|0x00600014|(((
5202 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5203 -
5204 -OVER_LIMIT
5205 -)))|Pulse shaft HOME Velocity over limit
5206 -|0x00600015|(((
5207 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5208 -
5209 -OVER_LIMIT
5210 -)))|Pulse shaft HOME Acceleration over limit
5211 -|0x00600020|(((
5212 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5213 -
5214 -NOTMAP
5215 -)))|(((
5216 -There is no required PDO for the mode
5217 -
5218 -corresponding to mode switching.
5219 -)))
5220 5220  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5221 5221  |(% colspan="3" %)**Axis’s error**
5222 5222  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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