Changes for page 08 Motion Control

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Content

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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
...	...	@@ -2202,17 +2202,6 @@
2202	2202	)))
2203	2203
2204	2204
2205		-
2206		-
2207		-
2208		-
2209		-
2210		-
2211		-
2212		-
2213		-
2214		-
2215		-
2216	2216	== **Management functions of axis group motion control** ==
2217	2217
2218	2218	----
...	...	@@ -3746,661 +3746,6 @@
3746	3746	|=**Error code**|=**Content**
3747	3747	|4084H|Input data beyond the specifiable range
3748	3748
3749		-=== **MC _ MOVEVELOCITY _ CSV** ===
3750		-
3751		-MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3752		-
3753		-[[image:1761032781939-478.png]]
3754		-
3755		-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.
3756		-
3757		-**Device used (only a single device can be used, device splicing and index are not supported)**
3758		-
3759		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3760		-**Index**
3761		-
3762		-**Modification**
3763		-)))|(((
3764		-**Pulse**
3765		-
3766		-**Expansion**
3767		-)))
3768		-|**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**
3769		-|(% rowspan="15" %)(((
3770		-MC _ MOVEVELOCITY
3771		-
3772		-_ CSV
3773		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774		-|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3775		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3776		-|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3777		-|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3778		-|Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3779		-|Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3780		-|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3781		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3782		-|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3783		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3784		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3785		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3786		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3787		-|Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3788		-
3789		-**Notes:**
3790		-
3791		-* LC and HSC are signed 32-bit data types;
3792		-* T, C, D, R and SD are signed 16-bit data types.
3793		-
3794		-**Variable type used**
3795		-
3796		-|**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3797		-|(% rowspan="15" %)(((
3798		-MC _ MOVE
3799		-
3800		-VELOCITY _ CSV
3801		-)))|Execute|BOOL|No|TRUE/FALSE|Enable
3802		-|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3803		-|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3804		-|Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3805		-|Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3806		-|Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3807		-|Direction|WORD|No|[1,4]|(((
3808		-Direction flag bit (Only rotation mode takes effect）。
3809		-
3810		-~1. Positive direction;
3811		-
3812		-2. Negative direction;
3813		-
3814		-3. The current direction;
3815		-
3816		-4. The shortest path (reserved).
3817		-)))
3818		-|BufferMode|WORD|Yes|[0]|BufferMode
3819		-|Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3820		-|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3821		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3822		-|Active|BOOL|Yes|TRUE/FALSE|Activity flag
3823		-|Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3824		-|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3825		-|Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3826		-
3827		-**Function**
3828		-
3829		-* 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.
3830		-* 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;
3831		-* 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;
3832		-* 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;
3833		-* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3834		-
3835		-**Error code**
3836		-
3837		-|**Error code**|**Content**
3838		-|4084H|Input data beyond the specifiable range
3839		-
3840		-**Precautions**
3841		-
3842		-* Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3843		-* Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3844		-
3845		-**Timing diagram**
3846		-
3847		-
3848		-(% style="text-align:center" %)
3849		-[[image:1761032845559-339.png||height="306" width="520"]]
3850		-
3851		-=== **MC _ SYNCMOVEVELOCITY** ===
3852		-
3853		-MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3854		-
3855		-[[image:1761032974104-584.png]]
3856		-
3857		-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.
3858		-
3859		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
3860		-
3861		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3862		-|**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**
3863		-|(% rowspan="8" %)(((
3864		-MC _ SYNCMOVE
3865		-
3866		-VELOCITY
3867		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3868		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3869		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3870		-|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3871		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3872		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3873		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3874		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3875		-
3876		-**Notes for using devices**
3877		-
3878		-* LC and HSC are signed 32-bit data types;
3879		-* T, C, D, R and SD are signed 16-bit data types.
3880		-
3881		-**Variable type used**
3882		-
3883		-|**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3884		-|(% rowspan="8" %)(((
3885		-MC _ SYNCMOVE
3886		-
3887		-VELOCITY
3888		-)))|Execute|BOOL|No|TRUE/FALSE|Enable
3889		-|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3890		-|Axis|(((
3891		-WORD
3892		-
3893		-
3894		-)))|No|[0,65535]|Axis number and built-in variable of axis
3895		-|InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3896		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3897		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3898		-|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3899		-|ErrorID|DWORD|Yes|-|(((
3900		-Error code (Please refer to
3901		-
3902		-[[8.11 Error Code>>path:#错误码对照表]]
3903		-)))
3904		-
3905		-**Function**
3906		-
3907		-* 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.
3908		-* 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;
3909		-* 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;
3910		-* 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;
3911		-* The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3912		-
3913		-**✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3914		-
3915		-
3916		-**Error code**
3917		-
3918		-|**Error code**|**Content**
3919		-|4084H|Input data beyond the specifiable range
3920		-
3921		-**Timing diagram**
3922		-
3923		-(% style="text-align:center" %)
3924		-[[image:1761033004563-270.png]]
3925		-
3926		-=== **MC _ SETTORQUE** ===
3927		-
3928		-MC _ SETTORQUE-Synchronous torque instruction
3929		-
3930		-[[image:1761033083623-162.png]]
3931		-
3932		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
3933		-
3934		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3935		-**Index**
3936		-
3937		-**Modification**
3938		-)))|(((
3939		-**Pulse**
3940		-
3941		-**Expansion**
3942		-)))
3943		-|**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**
3944		-|(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3945		-|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3946		-|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3947		-|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3948		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3949		-|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3950		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3951		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3952		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3953		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3954		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3955		-
3956		-**Notes for using devices**
3957		-
3958		-* LC and HSC are signed 32-bit data types;
3959		-* T, C, D, R and SD are signed 16-bit data types.
3960		-
3961		-**Variable type used**
3962		-
3963		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3964		-|(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3965		-|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3966		-|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3967		-|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3968		-|BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3969		-|Axis|WORD|No|[0,65535]|Axis number
3970		-|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3971		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3972		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
3973		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3974		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
3975		-|ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3976		-
3977		-**Function**
3978		-
3979		-* 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.
3980		-* The following PDOs need to be configured in CST mode;
3981		-
3982		-0x1600: 0x6060, 0x6071, 607f (optional), 6040
3983		-
3984		-0x1A00: 0x6061, 0x6077, 0x6041
3985		-
3986		-* If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3987		-* 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;
3988		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3989		-* 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;
3990		-
3991		-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.
3992		-
3993		-**Note**
3994		-
3995		-* This function block is not available when the axis does not exist.
3996		-
3997		-=== **MC _ TORQUECONTROL** ===
3998		-
3999		-MC _ TORQUECONTROL-Torque control command
4000		-
4001		-[[image:1761033167971-496.png||height="206" width="262"]]
4002		-
4003		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4004		-
4005		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4006		-**Index**
4007		-
4008		-**Modification**
4009		-)))|(((
4010		-**Pulse**
4011		-
4012		-**Expansion**
4013		-)))
4014		-|**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**
4015		-|(% rowspan="13" %)(((
4016		-MC _ TORQUE
4017		-
4018		-CONTROL
4019		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4020		-|ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4021		-|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4022		-|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4023		-|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4024		-|BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4025		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4026		-|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4027		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4028		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4029		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4030		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4031		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4032		-
4033		-**Notes for using devices**
4034		-
4035		-* LC and HSC are signed 32-bit data types;
4036		-* T, C, D, R and SD are signed 16-bit data types.
4037		-
4038		-**Variable type used**
4039		-
4040		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4041		-|(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4042		-|ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4043		-|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4044		-|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4045		-|TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4046		-|BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4047		-|Axis|WORD|No|[0,65535]|Axis number
4048		-|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4049		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4050		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4051		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4052		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4053		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4054		-
4055		-**Function**
4056		-
4057		-* 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.
4058		-* The following PDOs need to be configured in CST mode:
4059		-
4060		-0x1600: 0x6060, 0x6071, 607f (optional), 6040
4061		-
4062		-0x1A00: 0x6061, 0x6077, 0x6041
4063		-
4064		-* If VD3E is used, the value of startup parameter 2001:9 is 2;
4065		-
4066		-**Function description**
4067		-
4068		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4069		-* This instruction uses the driver synchronous torque mode to realize the torque control function;
4070		-* 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;
4071		-
4072		-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;
4073		-
4074		-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;
4075		-
4076		-* Speed control in torque mode
4077		-
4078		-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;
4079		-
4080		-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;
4081		-
4082		-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;
4083		-
4084		-For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4085		-
4086		-The maximum speed of the servomotor can be limited by 0x607F;
4087		-
4088		-0x607F can be configured into the PDO;
4089		-
4090		-The unit of 0x607F is pulse unit, non-speed unit.
4091		-
4092		-* Stop control on torque mode
4093		-
4094		-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.
4095		-
4096		-* Interrupt
4097		-
4098		-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;
4099		-
4100		-CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4101		-
4102		-The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4103		-
4104		-**Timing diagram**
4105		-
4106		-After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4107		-
4108		-(% style="text-align:center" %)
4109		-[[image:1761033264625-188.png]]
4110		-
4111		-
4112		-After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4113		-
4114		-(% style="text-align:center" %)
4115		-[[image:1761033334729-116.png]]
4116		-
4117		-=== **MC _ MOVEABSRELPP** ===
4118		-
4119		-MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4120		-
4121		-[[image:1761034254689-443.png]]
4122		-
4123		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4124		-
4125		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4126		-**Pulse**
4127		-
4128		-**Expansion**
4129		-)))
4130		-|**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**
4131		-|(% rowspan="13" %)(((
4132		-MC _ MOVEA
4133		-
4134		-BSRELPP
4135		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4136		-|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4137		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4138		-|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4139		-|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4140		-|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4141		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4142		-|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4143		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4144		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4147		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4148		-
4149		-**Notes for using devices**
4150		-
4151		-* LC and HSC are signed 32-bit data types;
4152		-* T, C, D, R and SD are signed 16-bit data types.
4153		-
4154		-**Variable type used**
4155		-
4156		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4157		-|(% rowspan="13" %)(((
4158		-MC _ MOVE
4159		-
4160		-ABSRELPP
4161		-)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4162		-|Mode|INT|No|0,1|(((
4163		-1: Absolute mode.
4164		-
4165		-1: Relative mode
4166		-)))
4167		-|Position|LREAL|No|(((
4168		--999999999.999999
4169		-
4170		-999999999.999999
4171		-)))|Target location
4172		-|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4173		-|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4174		-|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4175		-|Axis|WORD|No|[0,65535]|Axis number
4176		-|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4177		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4178		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4179		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4180		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4181		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4182		-
4183		-**Function**
4184		-
4185		-* 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.
4186		-* Contour Position Mode requires the following PDOs:
4187		-
4188		-0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4189		-
4190		-0x1A00: 0x6061, 0x6064, 0x6041
4191		-
4192		-**Function description**
4193		-
4194		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4195		-* 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;
4196		-* 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;
4197		-* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4198		-* Interrupt
4199		-
4200		-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;
4201		-
4202		-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.
4203		-
4204		-**Timing diagram**
4205		-
4206		-
4207		-(% style="text-align:center" %)
4208		-[[image:1761034304535-743.png]]
4209		-
4210		-=== **MC _ MOVEVELOCITYPV** ===
4211		-
4212		-MC _ MOVEVELOCITYPV-Contour Speed Command
4213		-
4214		-[[image:1761034415972-645.png]]
4215		-
4216		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4217		-
4218		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4219		-**Index**
4220		-
4221		-**Modification**
4222		-)))|(((
4223		-**Pulse**
4224		-
4225		-**Expansion**
4226		-)))
4227		-|**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**
4228		-|(% rowspan="11" %)(((
4229		-MC _ MOVEVELO
4230		-
4231		-CITYPV
4232		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233		-|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4234		-|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4235		-|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4236		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4237		-|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4238		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4239		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4242		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4243		-
4244		-**Notes for using devices**
4245		-
4246		-* LC and HSC are signed 32-bit data types;
4247		-* T, C, D, R and SD are signed 16-bit data types.
4248		-
4249		-**Variable type used**
4250		-
4251		-|**Instruction**|(((
4252		-**Pin**
4253		-
4254		-**type**
4255		-)))|**Parameter**|(((
4256		-**Variable**
4257		-
4258		-**Type**
4259		-)))|(((
4260		-**Can you**
4261		-
4262		-**Is empty**
4263		-)))|**Range**|**Description**
4264		-|(% rowspan="11" %)(((
4265		-MC _ MOVEVE
4266		-
4267		-LOCITYPV
4268		-)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4269		-|Velocity|LREAL|No|(((
4270		--999999999.999999
4271		-
4272		-999999999.999999
4273		-)))|Velocity
4274		-|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4275		-|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4276		-|Axis|WORD|No|[0,65535]|Axis number
4277		-|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4278		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4279		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4280		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4281		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4282		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4283		-
4284		-**Function**
4285		-
4286		-* 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;
4287		-* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4288		-* The following PDOs are required for the profile speed mode:
4289		-
4290		-0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4291		-
4292		-0x1A00: 0x6061, 0x606c, 0x6041
4293		-
4294		-**Function description**
4295		-
4296		-* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4297		-* 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.
4298		-
4299		-**Timing diagram**
4300		-
4301		-
4302		-(% style="text-align:center" %)
4303		-[[image:1761034458765-139.png]]
4304		-
4305		-=== **MC _ TORQUECONTROLPT** ===
4306		-
4307		-MC _ TORQUECONTROLPT-Contour torque control command
4308		-
4309		-[[image:1761034544967-630.png]]
4310		-
4311		-**Device used (only a single device can be used, and device splicing and Index are not supported)**
4312		-
4313		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4314		-|**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**
4315		-|(% rowspan="11" %)(((
4316		-MC _ TORQUE
4317		-
4318		-CONTROLPT
4319		-)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320		-|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4321		-|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4322		-|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4323		-|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4324		-|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4325		-|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4326		-|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327		-|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328		-|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4329		-|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4330		-
4331		-**Notes for using devices**
4332		-
4333		-* LC and HSC are signed 32-bit data types;
4334		-* T, C, D, R and SD are signed 16-bit data types.
4335		-
4336		-**Variable type used**
4337		-
4338		-|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4339		-|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4340		-|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4341		-|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4342		-|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4343		-|Axis|WORD|No|[0,65535]|Axis number
4344		-|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4345		-|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4346		-|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4347		-|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4348		-|Error|BOOL|Yes|TRUE/FALSE|Error or not
4349		-|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4350		-
4351		-**Function**
4352		-
4353		-* 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;
4354		-* 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;
4355		-* Profile torque mode needs to be configured with the following PDOs:
4356		-
4357		-0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4358		-
4359		-0x1A00: 0x6061, 0x6077, 0x6041
4360		-
4361		-**Function description**
4362		-
4363		-* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4364		-* This instruction uses the driver synchronous torque mode to realize the torque control function;
4365		-* 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;
4366		-
4367		-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;
4368		-
4369		-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.
4370		-
4371		-* Speed control in torque mode
4372		-
4373		-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;
4374		-
4375		-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;
4376		-
4377		-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;
4378		-
4379		-For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4380		-
4381		-The maximum speed of the servomotor can be limited by 0x607F;
4382		-
4383		-0x607F can be configured into the PDO;
4384		-
4385		-The unit of 0x607F is pulse unit, non-speed unit.
4386		-
4387		-* Stop control on torque mode
4388		-
4389		-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.
4390		-
4391		-* Interrupt
4392		-
4393		-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;
4394		-
4395		-CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4396		-
4397		-The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4398		-
4399		-**Timing diagram**
4400		-
4401		-(% style="text-align:center" %)
4402		-[[image:1761034615747-763.png]]
4403		-
4404	4404	== **SDO instruction** ==
4405	4405
4406	4406	----
...	...	@@ -4891,7 +4891,7 @@
4891	4891	----
4892	4892
4893	4893	(% style="text-align:center" %)
4894		-[[image:123.png||height="659" width="621"]]
	4225	+[[image:1709016272018-406.png||height="669" width="631"]]
4895	4895
4896	4896	=== **Axis group motion control status diagram** ===
4897	4897
...	...	@@ -4898,7 +4898,7 @@
4898	4898	----
4899	4899
4900	4900	(% style="text-align:center" %)
4901		-[[image:234.png||height="405" width="669"]]
	4232	+[[image:1709016323709-202.png]]
4902	4902
4903	4903
4904	4904	=== **Arc mode description** ===
...	...	@@ -4912,20 +4912,22 @@
4912	4912
4913	4913	Features
4914	4914	)))|(((
4915		-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	+
4916	4916	)))|(((
4917	4917
4918	4918
4919		-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.
4920	4920
4921	4921
4922	4922
4923	4923	)))|(((
4924		-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.
4925	4925
4926	4926	The direction of the vector determines the direction of CW and CCW circles.
4927	4927
4928		-The vector length is the radius of the arc.
	4261	+The major arc and minor arc are determined by path choice.
4929	4929	)))
4930	4930	|(((
4931	4931
...	...	@@ -5175,7 +5175,6 @@
5175	5175	|0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5176	5176	|0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5177	5177	|0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5178		-|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5179	5179	|(% colspan="3" %)**Error Stop**
5180	5180	|0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5181	5181	|(% colspan="3" %)**Error from servo**
...	...	@@ -5199,25 +5199,6 @@
5199	5199	|0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5200	5200	|0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5201	5201	|0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5202		-|0x00600014|(((
5203		-MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5204		-
5205		-OVER_LIMIT
5206		-)))|Pulse shaft HOME Velocity over limit
5207		-|0x00600015|(((
5208		-MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5209		-
5210		-OVER_LIMIT
5211		-)))|Pulse shaft HOME Acceleration over limit
5212		-|0x00600020|(((
5213		-MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5214		-
5215		-NOTMAP
5216		-)))|(((
5217		-There is no required PDO for the mode
5218		-
5219		-corresponding to mode switching.
5220		-)))
5221	5221	|0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5222	5222	|(% colspan="3" %)**Axis’s error**
5223	5223	|0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error

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