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Wiki source code of 08 Motion Control

Version 1.1 by Wecon on 2025/09/03 21:02
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Wecon 1.1 1 == **Management Function Blocks for Single-axis Motion Control** ==
2
3 ----
4
5 === **MC_POWER** ===
6
7 ----
8
9 MC_POWER
10
11 (% style="text-align:center" %)
12 [[image:1708929927472-144.png||_mstalt="296517"]]
13
14 This function block is a power-on software switch for the motion control system.
15
16 Device used (only a single device can be used, and device splicing and offset are not supported)
17
18
19
20 |=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
21 |**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**
22 |(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
23 |EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
24 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
25 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
26 |Status| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
27 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
28 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
29 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
30
31 Precautions for use of devices
32
33
34 * LC and HSC are signed 32-bit data types;
35 * T, C, D, R, SD are signed 16-bit data types.
36
37 Variable Type Used
38
39
40 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
41 |(% colspan="1" rowspan="8" %)MC_POWER|Enable|BOOL|No|TRUE/FALSE|Enable
42 |EnablePositive|BOOL|No|TRUE/FALSE|Allow motion in the positive direction
43 |EnableNegative|BOOL|No|TRUE/FALSE|Allow motion in negative direction
44 |Axis|WORD|No|0 to 65535|Axis number
45 |Status|BOOL|No|TRUE/FALSE|Enable status
46 |Valid|BOOL|No|TRUE/FALSE|Data valid or not
47 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
48 |ErrorID|DWORD|No|-|[Error code]
49
50 Function
51
52 * This function block must be enabled if an axis is to participate in motion.
53 * The function is as follows:
54
55 1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
56 1. When the Enable input is TRUE, this function block is called. If the state of the axis is in the Disable state, then the state of the axis is switched to the state of StandStill, waiting for the motion control of the axis;
57 1. If a fault occurs when the Enable input is TRUE, a timer function block and an AND logic function can make the state of its axis remain at FAlSE. It indicates that there is a fault at the hardware level;
58 1. If the PLC power supply fails during the motion, the state of the axis will switch to the ErrorStop state;
59 1. The input signals EnablePositive and EnableNegative are level controlled. When they are TRUE, axis motion in the positive and negative directions are allowed. Two input signals can be set at the same time, indicating that the allowed motion direction can be either positive or negative;
60 1. Each axis can only have one MC_POWER function block for powering up the axis. If multiple MC_POWER control the same axis, the last function block is valid;
61 1. The Status output signal indicates the status of the driver power supply, and 1 means power on; 0 means not power on. It is also not a simulated value if the axis drive is a simulated axis. Busy is the operating status of the function block, 1 means busy; 0 means idle. 0 means uncontrolled. Valid indicates whether the output signal of the function block is valid, and 1 means the output signal is valid; 0 means the output signal is invalid. Error indicates whether the function block is faulty, and 1 means faulty; 0 means no fault. ErrorID is the error code, and when a function block fault occurs, there are 16 digits indicating the fault information.
62
63 Precautions
64
65 * When any error occurs when the axis is enabled, it will be fed back through Error and ErrorID;
66 * The PDO parameters of servo axis bound to the axis must have control word, status word, target position and current position.
67
68 Sequence diagram
69
70 * When using a MC_POWER instruction and axis enables normally, sequence diagram is as follows:(((
71 (% style="text-align:center" %)
72 [[image:1708930747762-294.png||_mstalt="297310"]]
73 )))
74
75 * When axis uses two MC_POWER instructions and axis enables normally, sequence diagram is as follows:
76
77 (% style="text-align:center" %)
78 [[image:1708930776082-904.png||_mstalt="295945"]]
79
80 === **MC_READSTATUS** ===
81
82 ----
83
84 MC_READSTATUS
85
86 (% style="text-align:center" %)
87 [[image:1708930816987-979.png||_mstalt="301678"]]
88
89 This function block is used to read the status of the controlled axis.
90
91 Device used (only a single device can be used, and device splicing and offset are not supported)
92
93 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
94 **Index**
95
96 **modification**
97 )))|=**Pulse expansion**
98 | | |**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**
99 |(% colspan="1" rowspan="14" %)MC_READSTATUS|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
100 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
101 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
102 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
103 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
104 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
105 |Errorstop| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
106 |Disabled| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
107 |Stopping| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
108 |Homing| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
109 |Standstill| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
110 |DiscreteMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
111 |ContinuousMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
112 |SynchronizedMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
113
114 Precautions for use of devices
115
116 * LC and HSC are signed 32-bit data types;
117 * T, C, D, R and SD are signed 16-bit data types;
118
119 Variable Type Used
120
121 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
122 |(% colspan="1" rowspan="14" %)MC_READSTATUS|Enable|BOOL|No|TRUE/FALSE|Enable
123 |Axis|WORD|No|0 to 65535|Axis number
124 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
125 |Busy|BOOL|No|TRUE/FALSE|Busy sign
126 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
127 |ErrorID|DWORD|No|-|Error code
128 |Errorstop|BOOL|No|TRUE/FALSE|Error stop sign
129 |Disabled|BOOL|No|TRUE/FALSE|Inactive sign
130 |Stopping|BOOL|No|TRUE/FALSE|Stopping sign
131 |Homing|BOOL|No|TRUE/FALSE|Homing sign
132 |Standstill|BOOL|No|TRUE/FALSE|Static sign
133 |DiscreteMotion|BOOL|No|TRUE/FALSE|Discontinuous motion sign
134 |ContinuousMotion|BOOL|No|TRUE/FALSE|Continuous motion sign
135 |SynchronizedMotion|BOOL|No|TRUE/FALSE|Synchronized motion sign
136
137 Function
138
139 * It is used to read the status of the controlled axis, corresponding to the single-axis SynchronizedMotion, ContinuousMotion, DiscreteMotion, Stopping, Errorstop, Homing, Standstill and Disabled;
140 * When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.
141
142 Precautions
143
144 * This function block is not available when the axis does not exist.
145
146 Sequence diagram
147
148 When using MC_READSTATUS with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:
149
150 (% style="text-align:center" %)
151 [[image:1708931189048-874.png||_mstalt="298116"]]
152
153
154 === **MC_READMOTIONSTATE** ===
155
156 ----
157
158 MC_READMOTIONSTATE
159
160 (% style="text-align:center" %)
161 [[image:1708931307231-255.png||_mstalt="293072"]]
162
163 This function block is used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction.
164
165 Device used (only a single device can be used, and device splicing and offset are not supported)
166
167 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
168 **Index**
169
170 **modification**
171 )))|=**Pulse expansion**
172 | | |**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**
173 |(% colspan="1" rowspan="11" %)MC_READMOTIONSTATE|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
174 |Axis| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
175 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
176 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
177 |Error| | | | | | | | | | | | | | | | | | | | | | | | | |
178 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
179 |ConstantVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
180 |Accelerating| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
181 |Decelerating| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
182 |DirectionPositive| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
183 |DirectionNegative| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
184
185 Precautions for use of devices
186
187 * LC and HSC are signed 32-bit data types;
188 * T, C, D, R and SD are signed 16-bit data types;
189
190 Variable Type Used
191
192 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
193 |(% colspan="1" rowspan="11" %)MC_READMOTIONSTATE|Enable|BOOL|No|TRUE/FALSE|Enable
194 |Axis|WORD|No|0 to 65535|Axis number
195 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
196 |Busy|BOOL|No|TRUE/FALSE|Busy sign
197 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
198 |ErrorID|DWORD|No|-|Error code
199 |ConstantVelocity|BOOL|No|TRUE/FALSE|Constant velocity
200 |Accelerating|BOOL|No|TRUE/FALSE|Accelerating
201 |Decelerating|BOOL|No|TRUE/FALSE|Decelerating
202 |DirectionPositive|BOOL|No|TRUE/FALSE|Positive direction
203 |DirectionNegative|BOOL|No|TRUE/FALSE|Negative direction
204
205 Function
206
207 * Used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction;
208 * When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.
209
210 Precautions
211
212 * This function block is not available when the axis does not exist.
213
214 Error code
215
216 |=**Error code**|=**Content**
217 |4084H|Data beyond the specifiable range was entered.
218
219 Sequence diagram
220
221 * When using MC_READMOTIONSTATE with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:
222
223 (% style="text-align:center" %)
224 [[image:1708931510215-517.png||_mstalt="292968"]]
225
226
227 === **MC_READAXISERROR** ===
228
229 ----
230
231 MC_READAXISERROR
232
233 (% style="text-align:center" %)
234 [[image:1708931587533-769.png||_mstalt="299000"]]
235
236 The function block provides fault information about the axis.
237
238 Device used (only a single device can be used, and device splicing and offset are not supported)
239
240 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
241 | | |**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**
242 |(% colspan="1" rowspan="7" %)MC_READAXISERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
243 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
244 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
245 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
246 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
247 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
248 |AxisErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
249
250 Precautions for use of devices
251
252 * LC and HSC are signed 32-bit data types;
253 * T, C, D, R and SD are signed 16-bit data types;
254
255 Variable Type Used
256
257 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
258 |(% rowspan="7" %)MC_READAXISERROR|Enable|BOOL|No|TRUE/FALSE|Enable
259 |Axis|WORD|No|0 to 65535|Axis number
260 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
261 |Busy|BOOL|No|TRUE/FALSE|Busy sign
262 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
263 |ErrorID|DWORD|No|-|Error code
264 |AxisErrorID|DWORD|No|-|Axis error code
265
266 Function
267
268 * The function block provides fault information for the axis. Typically, you can connect the axis status ErrorStop output of the MC_READSTATUS function block to the Enable input end of MC_READAXISERROR, so that the fault code of the axis can be obtained from AxisErrorID. You can also get the fault code from ErrorID.
269
270 Precautions
271
272 * This function block is not available when the axis does not exist.
273
274 Sequence diagram
275
276 * When using MC_READAXISINFO with MC_POWER and MC_MOVERELATIVE instructions together and axis enables normally, in which MC_POWER→EnablePosition is FALSE and MC_POWER→EnableNegative is TRUE, sequence diagram is as follows:
277
278 (% style="text-align:center" %)
279 [[image:1708931733986-184.png||_mstalt="297791"]]
280
281
282 === **MC_READAXISINFO** ===
283
284 ----
285
286 MC_READAXISINFO
287
288 (% style="text-align:center" %)
289 [[image:1708931778931-994.png||_mstalt="299676"]]
290
291 The function block is used to provide information about the axis.
292
293 Device used (only a single device can be used, and device splicing and offset are not supported)
294
295 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|**Index modification**|**Pulse expansion**
296 |**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**
297 |(% rowspan="13" %)MC_READAXISINFO|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
298 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
299 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
301 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
302 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
303 |HomeAbsSwitch| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
304 |LimitSwitchPos| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
305 |LimitSwitchNeg| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
306 |ReadyForPowerOn| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
307 |powerOn| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
308 |IsHomed| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
309 |AxisWarning| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
310
311 **Precautions for use of devices**
312
313 * LC and HSC are signed 32-bit data types;
314 * T, C, D, R and SD are signed 16-bit data types.
315
316 **Variable Type Used**
317
318 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
319 |(% rowspan="13" %)MC_READAXISINFO|Enable|BOOL|No|TRUE/FALSE|Enable
320 |Axis|WORD|No|0 to 65535|Axis number
321 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
322 |Busy|BOOL|No|TRUE/FALSE|Busy sign
323 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
324 |ErrorID|DWORD|No|-|Error code
325 |HomeAbsSwitch|BOOL|No|TRUE/FALSE|Homing absolute position switch
326 |LimitSwitchPos|BOOl|No|TRUE/FALSE|Positive limit switch
327 |LimitSwitchNeg|BOOl|No|TRUE/FALSE|Negative limit switch
328 |ReadyForPowerOn|BOOl|No|TRUE/FALSE|Ready to enable
329 |powerOn|BOOl|No|TRUE/FALSE|Enable
330 |IsHomed|BOOl|No|TRUE/FALSE|Homing successful
331 |AxisWarning|BOOl|No|TRUE/FALSE|Axis warning
332
333 Function
334
335 * It is used to provide information about the axis, including the information about the absolute position switch back to the origin, the status information of the positive and negative limit switches, the power-on switch of the function block, and whether the axis has warnings. Generally, the output PowerOn of the MC_READAXISINFO function block can be used as the execution input of the motion control function block. For example, if the Enable of the power-on switch MC_POWER is shared with the MC_MOVEABSOLUTE function block, because the MC_MOVEABSOLUTE function block is edge triggered, and the execution of the MC_POWER function block takes a certain time, only when PowerOn is set can the actual output of MC_POWER be deemed to be powered-on so that the output PowerOn of MC_READAXISINFO is often connected to the Execute end of MC_MOVEABSOLUTE function block to ensure the edge trigger of MC_MOVEABSOLUTE function block. The Enable of the MC_READAXISINFO function block can share an input signal with the MC_POWER function block.
336
337 Precautions
338
339 * This function block is not available when the axis does not exist.
340
341 Sequence diagram
342
343 * When using MC_READAXISINFO with MC_POWER instruction together and axis enables normally, sequence diagram is as follows:
344
345 (% style="text-align:center" %)
346 [[image:1708931872321-895.png||_mstalt="297076"]]
347
348 === **MC_READPARAMETER** ===
349
350 ----
351
352 MC_READPARAMETER
353
354 (% style="text-align:center" %)
355 [[image:1708931933784-427.png||_mstalt="297219"]]
356
357 This function block is used to read axis parameters.
358
359 Device used (only a single device can be used, and device splicing and offset are not supported)
360
361 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
362 | | |**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**
363 |(% colspan="1" rowspan="8" %)MC_READPARAMETER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
364 |ParameterNumber| | | | | | | | | | | | | | |●|●|●|●|●| | | | | | |
365 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
366 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
367 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
368 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
369 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
370 |Value| | | | | | | | | | | | | | | | | | | | | | | | | |
371
372 Precautions for use of devices
373
374 * LC and HSC are signed 32-bit data types;
375 * T, C, D, R and SD are signed 16-bit data types.
376
377 Variable Type Used
378
379 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
380 |(% rowspan="8" %)MC_READPARAMETER|Enable|BOOL|No|TRUE/FALSE|Enable
381 |ParameterNumber|INT|No|1 to 17|Parameter number
382 |Axis|WORD|No|0 to 65535|Axis number
383 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
384 |Busy|BOOL|No|TRUE/FALSE|Busy sign
385 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
386 |ErrorID|DWORD|No|-|Error code
387 |Value|LREAL|No|-|Axis parameter value
388
389 Function
390
391
392 * Used to read axis parameters, as shown in following table.
393
394 |=**Parameter number PN**|=**Parameter name**|=**Data type**|=**B/E**|=**R/W**|=**Notes**
395 |1|InstructionedPosition|REAL|B|R|Instruction position
396 |2|SWLimitPos|REAL|E|R/W|Position of positive software limit switch
397 |3|SWLimitNeg|REAL|E|R/W|Positive of negative software limit switch
398 |4|EnableLimitPos|BOOL|E|R/W|Enable positive software limit switch
399 |5|EnableLimitNeg|BOOL|E|R/W|Enable negative software limit switch
400 |6|EnablePosLagMonitoring|BOOL|E|R/W|Enable position lag monitoring
401 |7|MaxPositionLag|REAL|E|R/W|Maximum position lag
402 |8|MaxVelocitySystem|REAL|E|R|Maximum allowable axial velocity in motion system
403 |9|MaxVelocityAppl|REAL|B|R/W|Maximum allowable axial velocity in application
404 |10|ActualVelocity|REAL|B|R|Actual velocity
405 |11|InstructionedVelocity|REAL|B|R|Instructioned velocity
406 |12|MaxAccelerationSystem|REAL|E|R|Maximum allowable axial acceleration in motion system
407 |13|MaxAccelerationAppl|REAL|E|R/W|Maximum allowable axial acceleration in application
408 |14|MaxDecelerationSystem|REAL|E|R|Maximum allowable axial deceleration in motion system
409 |15|MaxDecelerationAppl|REAL|E|R/W|Maximum allowable axial deceleration in application
410 |16|MaxJerkSystem|REAL|E|R|Maximum allowable axial jerk in motion system
411 |17|MaxJerkAppl|REAL|E|R/W|Maximum allowable axial jerk in application system
412
413 Precautions
414
415 * This function block is not available when the axis does not exist.
416
417 Error code
418
419 |=**Error code**|=**Content**
420 |4084H|Data beyond the specifiable range was entered.
421
422 Sequence diagram
423
424 * When using MC_READPARAMETER with MC_MOVERELATIVE instruction together, in which ParameterNumber=1, and axis enables normally, sequence diagram is as follows:
425
426 (% style="text-align:center" %)
427 [[image:1708932250549-876.png||_mstalt="297960"]]
428
429 === **MC_READBOOLPARAMETER** ===
430
431 ----
432
433 MC_READBOOLPARAMETER
434
435 (% style="text-align:center" %)
436 [[image:1708932376799-782.png||_mstalt="300209"]]
437
438 This function block is used to read axis Boolean parameters.
439
440 Device used (only a single device can be used, and device splicing and offset are not supported)
441
442 |=(% style="width: 178px;" %)**Instruction**|=(% style="width: 167px;" %)**Parameter**|=(% colspan="24" %)**Devices**|=(((
443 **Index**
444
445 **modification**
446 )))|=**Pulse expansion**
447 |(% style="width:178px" %) |(% style="width:167px" %) |**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**
448 |(% colspan="1" rowspan="8" style="width:178px" %)MC_READBOOLPARAMETER|(% style="width:167px" %)Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
449 |(% style="width:167px" %)ParameterNumber| | | | | | | | | | | | | | |●|●|●|●|●| | | | | | |
450 |(% style="width:167px" %)Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
451 |(% style="width:167px" %)Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
452 |(% style="width:167px" %)Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
453 |(% style="width:167px" %)Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
454 |(% style="width:167px" %)ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
455 |(% style="width:167px" %)Value| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
456
457 Precautions for use of devices
458
459 * LC and HSC are signed 32-bit data types;
460 * T, C, D, R and SD are signed 16-bit data types;
461
462 Variable Type Used
463
464 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
465 |(% colspan="1" rowspan="8" %)MC_READBOOLPARAMETER|Enable|BOOL|No|TRUE/FALSE|Enable
466 |ParameterNumber|INT|No|1 to 17|Parameter number
467 |Axis|WORD|No|0 to 65535|Axis number
468 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
469 |Busy|BOOL|No|TRUE/FALSE|Busy sign
470 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
471 |ErrorID|DWORD|No|-|Error code
472 |Value|BOOL|No|TRUE/FALSE|Axis parameter
473
474 Function
475
476 * Used to read axis Boolean parameters, as shown in following table.
477
478 |=**Parameter number PN**|=**Parameter name**|=**Data type**|=**B/E**|=**R/W**|=**Notes**
479 |1|InstructionedPosition|REAL|B|R|Instruction position
480 |2|SWLimitPos|REAL|E|R/W|Position of positive software limit switch
481 |3|SWLimitNeg|REAL|E|R/W|Positive of negative software limit switch
482 |4|EnableLimitPos|BOOL|E|R/W|Enable positive software limit switch
483 |5|EnableLimitNeg|BOOL|E|R/W|Enable negative software limit switch
484 |6|EnablePosLagMonitoring|BOOL|E|R/W|Enable position lag monitoring
485 |7|MaxPositionLag|REAL|E|R/W|Maximum position lag
486 |8|MaxVelocitySystem|REAL|E|R|Maximum allowable axial velocity in motion system
487 |9|MaxVelocityAppl|REAL|B|R/W|Maximum allowable axial velocity in application
488 |10|ActualVelocity|REAL|B|R|Actual velocity
489 |11|InstructionedVelocity|REAL|B|R|Instructioned velocity
490 |12|MaxAccelerationSystem|REAL|E|R|Maximum allowable axial acceleration in motion system
491 |13|MaxAccelerationAppl|REAL|E|R/W|Maximum allowable axial acceleration in application
492 |14|MaxDecelerationSystem|REAL|E|R|Maximum allowable axial deceleration in motion system
493 |15|MaxDecelerationAppl|REAL|E|R/W|Maximum allowable axial deceleration in application
494 |16|MaxJerkSystem|REAL|E|R|Maximum allowable axial jerk in motion system
495 |17|MaxJerkAppl|REAL|E|R/W|Maximum allowable axial jerk in application system
496
497 Precautions
498
499 * This function block is not available when the axis does not exist.
500
501 Error code
502
503 |=**Error code**|=**Content**
504 |4084H|Data beyond the specifiable range was entered.
505
506 Sequence diagram
507
508 (% style="text-align:center" %)
509 [[image:1708932747981-310.png||_mstalt="295100"]]
510
511 === **MC_READACTUALVELOCITY** ===
512
513 ----
514
515 MC_READACTUALVELOCITY
516
517 (% style="text-align:center" %)
518 [[image:1708932854884-305.png||_mstalt="296582"]]
519
520 This function block is used to read the actual velocity of the controlled axis.
521
522 Device used (only a single device can be used, and device splicing and offset are not supported)
523
524
525 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
526 **Index**
527
528 **modification**
529 )))|=(((
530 **Pulse**
531
532 **expansion**
533 )))
534 | | |**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**
535 |(% colspan="1" rowspan="7" %)MC_READACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
536 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
537 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
538 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
539 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
540 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
541 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
542
543 Precautions for use of devices
544
545 * LC and HSC are signed 32-bit data types;
546 * T, C, D, R and SD are signed 16-bit data types.
547
548 Variable Type Used
549
550 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
551 |(% colspan="1" rowspan="7" %)MC_READACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
552 |Axis|WORD|No|0 to 65535|Axis number
553 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
554 |Busy|BOOL|No|TRUE/FALSE|Busy sign
555 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
556 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
557 |Velocity|LREAL|No|-|Actual velocity
558
559 Function
560
561 * When the function block’s Enable is set, the MC_READACTUALVELOCITY output returns the actual velocity of the controlled single axis.
562
563 Precautions
564
565 * This function block is not available when the axis does not exist;
566 * When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.
567
568 Sequence diagram
569
570 (% style="text-align:center" %)
571 [[image:1708933063977-591.png||_mstalt="297934"]]
572
573 === **MC_READACTUALPOSITION** ===
574
575 ----
576
577 MC_READACTUALPOSITION
578
579 (% style="text-align:center" %)
580 [[image:1708933148797-641.png||_mstalt="297635"]]
581
582 This function block is used to read the actual absolute position of the axis.
583
584 Device used (only a single device can be used, and device splicing and offset are not supported)
585
586 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
587 **Index**
588
589 **modification**
590 )))|=(((
591 **Pulse**
592
593 **expansion**
594 )))
595 | | |**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**
596 |(% colspan="1" rowspan="7" %)MC_READACTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
597 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
598 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
599 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
600 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
601 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
602 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
603
604 Precautions for use of devices
605
606 * LC and HSC are signed 32-bit data types;
607 * T, C, D, R and SD are signed 16-bit data types；
608
609 Variable Type Used
610
611 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
612 |(% rowspan="7" %)MC_READACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
613 |Axis|WORD|No|0 to 65535|Axis number
614 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
615 |Busy|BOOL|No|TRUE/FALSE|Busy sign
616 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
617 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
618 |Position|LREAL|No|-|Actual absolute position
619
620 Function
621
622 * When the function block’s Enable is set, the MC_READACTUALPOSITION output returns the actual absolute position of the controlled single axis.
623
624 Precautions
625
626 * This function block is not available when the axis does not exist;
627 * 0x6064 should be configured in the bus axis, otherwise it is invalid;
628 * When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.
629
630 Sequence diagram
631
632 (% style="text-align:center" %)
633 [[image:1708933375433-378.png||_mstalt="297037"]]
634
635 === **MC_RESET** ===
636
637 ----
638
639 MC_RESET
640
641 (% style="text-align:center" %)
642 [[image:1708933464043-183.png||_mstalt="294411"]]
643
644 This function block is used for clearing the faults of the controlled axis.
645
646 Device used (only a single device can be used, and device splicing and offset are not supported)
647
648
649 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
650 **Index**
651
652 **modification**
653 )))|=(((
654 **Pulse**
655
656 **expansion**
657 )))
658 | | |**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**
659 |(% colspan="1" rowspan="6" %)MC_RESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
660 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
661 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
662 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
663 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
664 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
665
666 Precautions for use of devices
667
668 * LC and HSC are signed 32-bit data types;
669 * T, C, D, R and SD are signed 16-bit data types;
670
671 Variable Type Used
672
673
674 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
675 |(% colspan="1" rowspan="6" %)MC_RESET|Execute|BOOL|No|TRUE/FALSE|Enable
676 |Axis|WORD|No|0 to 65535|Axis number
677 |Done|BOOL|No|TRUE/FALSE|Completion sign
678 |Busy|BOOL|No|TRUE/FALSE|Busy sign
679 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
680 |ErrorID|DWORD|No|-|Error code
681
682 Function
683
684 * When the Execute input signal rises, it is used to clear the fault of the controlled axis. These faults include axis faults and drive side faults. If the drive itself fails, the reset of the drive failure should be carried out first. These fault treatments do not cause the motion of the controlled axis.
685
686 Precautions
687
688 * This function block is not available when the axis does not exist.
689
690 Sequence diagram
691
692 * In the case of axis failure, call MC_RESET instruction and reset successfully, sequence diagram is as follows:
693
694 (% style="text-align:center" %)
695 [[image:1708933588765-628.png||_mstalt="299468"]]
696
697 * When driver cannot be reset, sequence diagram is as follows:
698
699 (% style="text-align:center" %)
700 [[image:1708933611426-302.png||_mstalt="292292"]]
701
702 === **MC_SETPOSITION** ===
703
704 ----
705
706 MC_SETPOSITION
707
708 (% style="text-align:center" %)
709 [[image:1708933664132-373.png||_mstalt="294775"]]
710
711 This function block is used to set the position (absolute position or relative position) of the controlled axis.
712
713 Device used (only a single device can be used, and device splicing and offset are not supported)
714
715
716 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
717 **Index**
718
719 **modification**
720 )))|=(((
721 **Pulse**
722
723 **expansion**
724 )))
725 | | |**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**
726 |(% colspan="1" rowspan="9" %)MC_SETPOSITION|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
727 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
728 |Relative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
729 |Execution Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
730 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
731 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
732 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
733 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
734 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
735
736 Precautions for use of devices
737
738 * LC and HSC are signed 32-bit data types;
739 * T, C, D, R and SD are signed 16-bit data types;
740
741 Variable Type Used
742
743 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
744 |(% colspan="1" rowspan="9" %)MC_SETPOSITION|Execute|BOOL|No|TRUE/FALSE|Enable
745 |Position|LREAL|No|-9999999.00~~9999999.00|Position
746 |Relative|BOOL|No|TRUE/FALSE|Set relative position or absolute position
747 |Execution Mode|WORD|No|0 to 2|Operation mode
748 |Axis|WORD|No|0 to 65535|Axis number
749 |Done|BOOL|No|TRUE/FALSE|Completion sign
750 |Busy|BOOL|No|TRUE/FALSE|Busy sign
751 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
752 |ErrorID|DWORD|No|-|Error code
753
754 Function
755
756 * MC_SETPOSITION function block is used to set the position (absolute position or relative position) of the controlled axis. It controls the set position and the actual position of the axis by moving the coordinate system of the coordinate system, so that they have the same value without causing motion, and obtains the same tracking error by re-calibration. This function block can be used for examples in reference situations;
757 * At present, this command does not support triggering when the axis is in motion.
758
759 Precautions
760
761 * This function block is not available when the axis does not exist.
762
763 == **Motion Function Blocks for Single-axis Motion Control** ==
764
765 ----
766
767 === **MC_STOP** ===
768
769 ----
770
771 MC_STOP
772
773 (% style="text-align:center" %)
774 [[image:1708934009088-266.png||_mstalt="296491"]]
775
776 This function block is used to change the state of the controlled axis to the deceleration stopping state.
777
778 Device used (only a single device can be used, and device splicing and offset are not supported)
779
780 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
781 | | |**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**
782 |(% colspan="1" rowspan="9" %)MC_STOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
783 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
784 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
785 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
786 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
787 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
788 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
789 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
790 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
791
792 Precautions for use of devices
793
794 * LC and HSC are signed 32-bit data types;
795 * T, C, D, R and SD are signed 16-bit data types.
796
797 Variable Type Used
798
799 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
800 |(% colspan="1" rowspan="9" %)MC_STOP|Execute|BOOL|No|TRUE/FALSE|Enable
801 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
802 |Jerk|LREAL|No|0 to 9999999.00|Jerk
803 |Axis|WORD|No|0 to 65535|Axis number
804 |Done|BOOL|No|TRUE/FALSE|Completion sign
805 |Busy|BOOL|No|TRUE/FALSE|Busy sign
806 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
807 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
808 |ErrorID|DWORD|No|-|Error code
809
810 Function
811
812 * This function block is used to change the state of the controlled axis to the deceleration stopping state. When the rising edge of the input Execute signal triggers the function block, the controlled axis decelerates with the output Decelerate value and the axis motion stops.
813
814 Precautions
815
816 * This function block is not available when the axis does not exist.
817
818 Error code
819
820 |=**Error code**|=**Content**
821 |4084H|Data beyond the specifiable range was entered.
822
823 Sequence diagram
824
825 * When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:
826
827 (% style="text-align:center" %)
828 [[image:1708934225357-168.png||_mstalt="296452"]]
829
830 * When driver fails during the instruction running, sequence diagram is as follows:
831
832 (% style="text-align:center" %)
833 [[image:1708934303224-405.png||_mstalt="292370"]]
834
835 === **MC_HOME** ===
836
837 ----
838
839 MC_HOME
840
841 (% style="text-align:center" %)
842 [[image:1708934397030-253.png||_mstalt="294047"]]
843
844 This function block is used to change the state of the controlled axis to the origin state.
845
846 Device used (only a single device can be used, and device splicing and offset are not supported)
847
848 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
849 | | |**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**
850 |(% colspan="1" rowspan="10" %)MC_HMOE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
851 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
852 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
853 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
854 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
855 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
856 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
857 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
858 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
859 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
860
861 Precautions for use of devices
862
863 * LC and HSC are signed 32-bit data types;
864 * T, C, D, R and SD are signed 16-bit data types.
865
866 Variable Type Used
867
868 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
869 |(% colspan="1" rowspan="10" %)MC_HOME|Execute|BOOL|No|TRUE/FALSE|Enable
870 |Position|LREAL|No|0 to 9999999.00|Position
871 |BufferMode|WORD|No|0 to 5|Mode selection
872 |Axis|WORD|No|0 to 65535|Axis number
873 |Done|BOOL|No|TRUE/FALSE|Completion sign
874 |Busy|BOOL|No|TRUE/FALSE|Busy sign
875 |Active|BOOL|Yes|TRUE/FALSE|Valid flag bit
876 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
877 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
878 |ErrorID|DWORD|No|-|Error code
879
880 Function
881
882 * It is determined whether the controlled axis returns to its origin by detecting the relevant limit switch, absolute position origin switch or transmitted sequence pulse signal.
883
884 Precautions
885
886 * This function block is not available when the axis does not exist.
887
888 Error code
889
890 |=**Error code**|=**Content**
891 |4084H|Data beyond the specifiable range was entered.
892
893 Sequence diagram
894
895 Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:
896
897
898 (% style="text-align:center" %)
899 [[image:1708934632681-933.png||_mstalt="296465"]]
900
901 === **MC_HALT** ===
902
903 ----
904
905 MC_HALT
906
907 (% style="text-align:center" %)
908 [[image:1708934697518-386.png||_mstalt="299234"]]
909
910 This function block is often used to stop the motion of the controlled axis under normal operating conditions.
911
912 Device used (only a single device can be used, and device splicing and offset are not supported)
913
914 (% style="width:1455px" %)
915 |=**Instruction**|=**Parameter**|=(% colspan="24" style="width: 935px;" %)**Devices**|=(% colspan="2" style="width: 91px;" %)(((
916 **Index modification**
917 )))|=**Pulse expansion**
918 | | |**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**|(% colspan="2" style="width:22px" %)**E**|(% style="width:140px" %)**[D]**|(% colspan="2" %)**XXP**
919 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
920 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
921 |Jerk| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
922 |Axis| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
923 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
924 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
925 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
926 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
927 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
928 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
929
930 Precautions for use of devices
931
932 * LC and HSC are signed 32-bit data types;
933 * T, C, D, R and SD are signed 16-bit data types;
934
935 Variable Type Used
936
937 |**Instruction**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
938 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|BOOL|No|TRUE/FALSE|Enable
939 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
940 |Jerk|LREAL|No|0 to 9999999.00|Jerk
941 |Axis|WORD|No|0 to 65535|Axis number
942 |Done|BOOL|No|TRUE/FALSE|Data valid or not
943 |Busy|BOOL|No|TRUE/FALSE|Busy sign
944 |Active|BOOL|No|TRUE/FALSE|Valid sign
945 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
946 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
947 |ErrorID|DWORD|No|-|Error code
948
949 Function
950
951 * If the controlled axis is in a continuous motion state, the rising edge of the Execute signal input by the MC_Halt function block triggers the activation of the function block, so that the state of the controlled axis changes to the intermittent motion state. Similarly, if the controlled axis is in an intermittent motion state or a synchronous motion state, the activation of the MC_HALT function block will keep the controlled axis in an intermittent motion state. This function block is often used to stop the motion of the controlled axis under normal operating conditions.
952
953 Precautions
954
955 * This function block is not available when the axis does not exist.
956
957 Error code
958
959 |=**Error code**|=**Content**
960 |4084H|Data beyond the specifiable range was entered.
961
962 **Sequence diagram**
963
964 * After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:(((
965 (% style="text-align:center" %)
966 [[image:1708935236792-154.png||_mstalt="296127"]]
967 )))
968
969 * After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:
970
971 (% style="text-align:center" %)
972 [[image:1708935259573-284.png||_mstalt="297609"]]
973
974 * When executing MC_HALT, showdown failure happens, sequence diagram is as follows:
975
976 (% style="text-align:center" %)
977 [[image:1708935287683-523.png||_mstalt="297037"]]
978
979 === **MC_MOVEABSOLUTE** ===
980
981 ----
982
983 MC_MOVEABSOLUTE
984
985 (% style="text-align:center" %)
986 [[image:1708935525380-170.png||_mstalt="294034"]]
987
988 The function block makes the controlled axis reach the set absolute position with the input parameters.
989
990 Device used (only a single device can be used, and device splicing and offset are not supported)
991
992 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
993 | | |**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**
994 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
995 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
996 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
997 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
998 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
999 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1000 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1001 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1002 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1003 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1004 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1005 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1006 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1007 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1008 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1009
1010 Precautions for use of devices
1011
1012 * LC and HSC are signed 32-bit data types;
1013 * T, C, D, R and SD are signed 16-bit data types;
1014
1015 Variable Type Used
1016
1017
1018 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1019 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
1020 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1021 |Position|LREAL|No|-9999999.00~~9999999.00|Absolute position
1022 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1023 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1024 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1025 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1026 |BufferMode|WORD|No|0 to 5|Mode selection
1027 |Axis|WORD|No|0 to 65535|Axis number
1028 |Done|BOOL|No|TRUE/FALSE|Completion sign
1029 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1030 |Active|BOOL|No|TRUE/FALSE|Valid sign
1031 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1032 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1033 |ErrorID|DWORD|No|-|Error code
1034
1035 Function
1036
1037 * The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).
1038
1039 Precautions
1040
1041 * This function block is not available when the axis does not exist.
1042
1043 Error code
1044
1045 |=**Error code**|=**Content**
1046 |4084H|Data beyond the specifiable range was entered.
1047
1048 Sequence diagram
1049
1050 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1051
1052 (% style="text-align:center" %)
1053 [[image:1708935703902-764.png||_mstalt="296088"]]
1054
1055 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1056
1057 (% style="text-align:center" %)
1058 [[image:1708935740101-262.png||_mstalt="292266"]]
1059
1060 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1061
1062 (% style="text-align:center" %)
1063 [[image:1708935762521-958.png||_mstalt="297843"]]
1064
1065 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):
1066
1067 (% style="text-align:center" %)
1068 [[image:1708935788803-332.png||_mstalt="296166"]]
1069
1070 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1071
1072 (% style="text-align:center" %)
1073 [[image:1708935816541-212.png||_mstalt="293501"]]
1074
1075 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1076
1077 (% style="text-align:center" %)
1078 [[image:1708935852123-588.png||_mstalt="297206"]]
1079
1080 * mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1081
1082 (% style="text-align:center" %)
1083 [[image:1708935874762-466.png||_mstalt="298584"]]
1084
1085
1086 === **MC_MOVERELATIVE** ===
1087
1088 ----
1089
1090 MC_MOVERELATIVE
1091
1092 (% style="text-align:center" %)
1093 [[image:1708935994795-183.png||_mstalt="299455"]]
1094
1095 The function block makes the controlled axis reach the set absolute position with the input parameters.
1096
1097 Device used (only a single device can be used, and device splicing and offset are not supported)
1098
1099 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1100 | | |**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**
1101 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1102 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1103 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1104 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1105 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1106 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1107 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1108 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1109 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1110 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1111 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1112 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1113 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1114 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1115 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1116
1117 Precautions for use of devices
1118
1119 * LC and HSC are signed 32-bit data types;
1120 * T, C, D, R and SD are signed 16-bit data types.
1121
1122 Variable Type Used
1123
1124
1125 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1126 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1127 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1128 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1129 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1130 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1131 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1132 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1133 |BufferMode|WORD|No|0 to 5|Mode selection
1134 |Axis|WORD|No|0 to 65535|Axis number
1135 |Done|BOOL|No|TRUE/FALSE|Completion sign
1136 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1137 |Active|BOOL|No|TRUE/FALSE|Valid sign
1138 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1139 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1140 |ErrorID|DWORD|No|-|Error code
1141
1142 Function
1143
1144 * The function block takes the current position as the starting point of motion and controls the controlled axis to reach the set relative position (Distance) with the set parameters (velocity, acceleration, deceleration and jerk), It refers to the motion control that takes starting point of the motion + Distance as the end point.
1145
1146 Precautions
1147
1148 * This function block is not available when the axis does not exist.
1149
1150 Error code
1151
1152 |=**Error code**|=**Content**
1153 |4084H|Data beyond the specifiable range was entered.
1154
1155 Sequence diagram
1156
1157 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1158
1159 (% style="text-align:center" %)
1160 [[image:1708936170353-654.png||_mstalt="295438"]]
1161
1162 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1163
1164 (% style="text-align:center" %)
1165 [[image:1708936200749-506.png||_mstalt="295282"]]
1166
1167 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1168
1169 (% style="text-align:center" %)
1170 [[image:1708936252703-706.png||_mstalt="294801"]]
1171
1172 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)(((
1173 (% style="text-align:center" %)
1174 [[image:1708936284791-539.png||_mstalt="298623"]]
1175 )))
1176
1177 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1178
1179 (% style="text-align:center" %)
1180 [[image:1708936309446-511.png||_mstalt="294723"]]
1181
1182 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1183
1184 (% style="text-align:center" %)
1185 [[image:1708936332278-409.png||_mstalt="296439"]]
1186
1187 * McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1188
1189 (% style="text-align:center" %)
1190 [[image:1708936365320-929.png||_mstalt="296660"]]
1191
1192 === **MC_MOVEADDITIVE** ===
1193
1194 ----
1195
1196 MC_MOVEADDITIVE
1197
1198 (% style="text-align:center" %)
1199 [[image:1708936429637-442.png||_mstalt="296634"]]
1200
1201 This function block is a motion increment function block.
1202
1203 Device used (only a single device can be used, and device splicing and offset are not supported)
1204
1205 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1206 | | |**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**
1207 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1208 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1209 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1210 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1211 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1212 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1213 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1214 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1215 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1216 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1217 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1218 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1219 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1220 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1221 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1222
1223 Precautions for use of devices
1224
1225 * LC and HSC are signed 32-bit data types;
1226 * T, C, D, R and SD are signed 16-bit data types.
1227
1228 Variable Type Used
1229
1230 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1231 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1232 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1233 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1234 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1235 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1236 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1237 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1238 |BufferMode|WORD|No|0 to 5|Mode selection
1239 |Axis|WORD|No|0 to 65535|Axis number
1240 |Done|BOOL|No|TRUE/FALSE|Completion sign
1241 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1242 |Active|BOOL|No|TRUE/FALSE|Valid sign
1243 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1244 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1245 |ErrorID|DWORD|No|-|Error code
1246
1247 Function
1248
1249 * It is used to add the input parameters (velocity, acceleration, deceleration and jerk) specified by this function block to reach the specified distance (Distance) on the basis of existing motion, i.e., adding distance.
1250
1251 Precautions
1252
1253 * This function block is not available when the axis does not exist.
1254
1255 Error code
1256
1257 |=**Error code**|=**Content**
1258 |4084H|Data beyond the specifiable range was entered.
1259
1260 Sequence diagram
1261
1262 When using MC_MOVEABSOLUTE with MC_MOVEADDITIVE together, and when the tagret position of MC_MOVEABSOLUTE is 10 and velocity is 5, the stacked position of MC_MOVEADDITIVE is 15 and velocity is 10, the relationship between position and velocity of Axis_0 is as follows:
1263
1264 (% style="text-align:center" %)
1265 [[image:1708936628466-218.png||_mstalt="297193"]]
1266
1267 === **MC_MOVESUPERIMPOSED** ===
1268
1269 ----
1270
1271 MC_MOVESUPERIMPOSED
1272
1273 (% style="text-align:center" %)
1274 [[image:1708936695676-290.png||_mstalt="298506"]]
1275
1276 This function block is a motion superposition function block.
1277
1278 Device used (only a single device can be used, and device splicing and offset are not supported)
1279
1280 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1281 **Index**
1282
1283 **modification**
1284 )))|=(((
1285 **Pulse**
1286
1287 **expansion**
1288 )))
1289 | | |**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**
1290 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1291 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1292 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1293 |VelocityDiff| | | | | | | | | | | | | | | | | | | | | | | | | |
1294 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1295 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1296 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1297 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1298 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1299 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1301 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1302 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1303 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1304 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1305
1306 Precautions for use of devices
1307
1308 * LC and HSC are signed 32-bit data types;
1309 * T, C, D, R and SD are signed 16-bit data types;
1310
1311 Variable Type Used
1312
1313 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1314 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|BOOL|No|TRUE/FALSE|Enable
1315 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1316 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1317 |VelocityDiff|LREAL|No|0 to 9999999.00|Velocity
1318 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1319 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1320 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1321 |BufferMode|WORD|No|0 to 5|Mode selection
1322 |Axis|WORD|No|0 to 65535|Axis number
1323 |Done|BOOL|No|TRUE/FALSE|Completion sign
1324 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1325 |Active|BOOL|No|TRUE/FALSE|Valid sign
1326 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1327 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1328 |ErrorID|DWORD|No|-|Error code
1329
1330 Function
1331
1332 * This function block is used to superpose the motion, which means that on the basis of current motion speed, the velocity difference is added so that the input acceleration, deceleration and jerk are also increased based on the original motion values, i.e., increasing the velocity and making the controlled axis move to the specified (relative) distance (Distance).
1333
1334 Precautions
1335
1336 * This function block is not available when the axis does not exist;
1337 * When it executes, the previous function block should be executed first.
1338
1339 Error code
1340
1341 |=**Error code**|=**Content**
1342 |4084H|Data beyond the specifiable range was entered.
1343
1344 Sequence diagram
1345
1346 (% style="text-align:center" %)
1347 [[image:1708936849134-999.png||_mstalt="300794"]]
1348
1349
1350 == **Management Function Blocks for Multi-axis Motion Control** ==
1351
1352 ----
1353
1354 === **MC_CAMTABLESELECT** ===
1355
1356 ----
1357
1358 MC_CAMTABLESELECT
1359
1360 (% style="text-align:center" %)
1361 [[image:1708937013155-415.png||_mstalt="293540"]]
1362
1363 This function block is used to bind the cam table.
1364
1365 Device used (only a single device can be used, and device splicing and offset are not supported)
1366
1367
1368 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1369 **Index**
1370
1371 **modification**
1372 )))|=(((
1373 **Pulse**
1374
1375 **expansion**
1376 )))
1377 | | |**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**
1378 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1379 |Periodic|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1380 |MasterAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1381 |SlaveAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1382 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1383 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1384 |CamTable| | | | | | | | | | | | | | | | |●| | | | | | | | |
1385 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1386 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1387 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1388 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1389 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1390
1391 Precautions for use of devices
1392
1393 * LC and HSC are signed 32-bit data types;
1394 * T, C, D, R and SD are signed 16-bit data types;
1395
1396 Variable Type Used
1397
1398 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1399 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|BOOL|No|TRUE/FALSE|Enable
1400 |Periodic|BOOL|No|TRUE/FALSE|Cyclic mode setting
1401 |MasterAbsolute|BOOL|No|TRUE/FALSE|Master axis position mode setting
1402 |SlaveAbsolute|BOOL|No|TRUE/FALSE|Slave axis position mode setting
1403 |Master|WORD|No|-|Master axis
1404 |Slave|WORD|No|-|Slave axis
1405 |CamTable|Cam table (INT type variable)|No|-|Cam table
1406 |Done|BOOL|No|TRUE/FALSE|Completion sign
1407 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1408 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1409 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1410 |CamTableID|WORD|No|-|Cam table identification number
1411
1412 Function
1413
1414 * When MasterAbsolute is true, it means the master axis is under the absolute mode; when MasterAbsolute is false, it means the master axis is under the relative mode;
1415 * When SlaveAbsolute is true, it means the slave axis is under the absolute mode; when SlaveAbsolute is false, it means the slave axis is under the relative mode;
1416 * This function block is used to bind the cam table, that is, to bind the input master axis, slave axis and cam table. When calling MC_CAMIN function block, only the cam table bound by this function block can be used.
1417
1418 Precautions
1419
1420 * This function block is not available when the axis does not exist.
1421
1422 Error code
1423
1424 |=**Error code**|=**Content**
1425 |4084H|Data beyond the specifiable range was entered.
1426
1427 Sequence diagram
1428
1429 (% style="text-align:center" %)
1430 [[image:1708937230885-390.png||_mstalt="296439"]]
1431
1432 === **MC_GENERATECAMTABLE** ===
1433
1434 ----
1435
1436 MC_GENERATECAMTABLE
1437
1438 (% style="text-align:center" %)
1439 [[image:1708937316371-993.png||_mstalt="297687"]]
1440
1441 This function block is used to update the cam table.
1442
1443 Device used (Only a single device can be used, and device splicing and offset are not supported)
1444
1445 |=(((
1446
1447
1448 **Instruction**
1449 )))|=(((
1450
1451
1452 **Parameter**
1453 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1454 | | |**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**
1455 |(% colspan="1" rowspan="10" %)(((
1456
1457
1458
1459
1460 MC_GENERATECAMTABLE
1461 )))|Execute|[[image:1708937346410-601.png||_mstalt="292851"]]|[[image:1708937346412-566.png||_mstalt="296283"]]|[[image:1708937346413-140.png||_mstalt="293072"]]|[[image:1708937346413-653.png||_mstalt="295620"]]|[[image:1708937346414-925.png||_mstalt="296426"]]| | | | | | | | | | | | | | | | | | | | |
1462 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1463 |CamNode| | | | | | | | | | | | | | | | | | | | | | | | | |
1464 |NodeNum| | | | | | | | | | | | | | | | |[[image:1708937346415-218.png||_mstalt="295373"]]| | | | | | | | |
1465 |(((
1466 Generatecam
1467
1468 TableMode
1469 )))| | | | | | | | | | | | | | | | |[[image:1708937346415-626.png||_mstalt="296153"]]| | | | | | | | |
1470 |Done| |[[image:1708937346416-119.png||_mstalt="295646"]]|[[image:1708937346417-650.png||_mstalt="295711"]]|[[image:1708937346418-420.png||_mstalt="294554"]]|[[image:1708937346419-124.png||_mstalt="295178"]]| | | | | | | | | | | | | | | | | | | | |
1471 |Busy| |[[image:1708937346421-759.png||_mstalt="297427"]]|[[image:1708937346423-907.png||_mstalt="296439"]]|[[image:1708937346423-338.png||_mstalt="295958"]]|[[image:1708937346424-801.png||_mstalt="294619"]]| | | | | | | | | | | | | | | | | | | | |
1472 |InstructionAborted| |(((
1473 [[image:1708937346425-166.png||_mstalt="296166"]]
1474
1475 [[image:1708937346425-794.png||_mstalt="298064"]]
1476 )))|(((
1477 [[image:1708937346426-497.png||_mstalt="298389"]]
1478
1479 [[image:1708937346427-332.png||_mstalt="295152"]]
1480 )))|(((
1481 [[image:1708937346427-282.png||_mstalt="296309"]]
1482
1483 [[image:1708937346428-957.png||_mstalt="299104"]]
1484 )))|(((
1485 [[image:1708937346429-449.png||_mstalt="298298"]]
1486
1487
1488 )))| | | | | | | | | | | | | | | | | | | | |
1489 |Error| | | | |[[image:1708937346429-635.png||_mstalt="297362"]]| | | | | | | | | | | | | | | | | | | | |
1490 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1491
1492 Precautions for use of devices
1493
1494 * LC and HSC are signed 32-bit data types;
1495 * T, C, D, R and SD are signed 16-bit data types;
1496
1497 Variable type used
1498
1499 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1500 |(% colspan="1" rowspan="10" %)(((
1501
1502
1503
1504
1505
1506 MC_GENERATECAMTABLE
1507 )))|(% colspan="1" rowspan="5" %)(((
1508
1509
1510
1511 Input
1512 )))|Execute|BOOL|No|TRUE/FALSE|Enable
1513 |CamTableID|INT|No| |Cam tableID
1514 |CamNode|(((
1515 ARRAY
1516
1517 (CAMNODET)
1518 )))|No|-|Array of cam nodes
1519 |NodeNum|INT|No|2 ～361|Number of cam nodes
1520 |(((
1521 GeneratecamTable
1522
1523 Mode
1524 )))|(((
1525
1526
1527 INT
1528 )))|(((
1529
1530
1531 No
1532 )))|(((
1533
1534
1535
1536 )))|(((
1537 Effective mode
1538
1539 0： Effective in the next cam cycle;
1540
1541 Others: Reserved
1542 )))
1543 |(% colspan="1" rowspan="5" %)(((
1544
1545
1546
1547 Output
1548 )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1549 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1550 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1551 |Error|BOOL|Yes| |Whether there is an error or not
1552 |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1553
1554 Function
1555
1556 * This function block is used to update cam table. At the rising edge of startup, the cam data is calculated based on values of input variables camNode and NodeNum. The data is updated to the cam table specified by camTable, which is will be effective in the next cam cycle.
1557
1558 (% class="box infomessage" %)
1559 (((
1560 **✎Note:**
1561
1562 ~1. This function block is not available when the Cam table does not exist.
1563
1564 2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C
1565 )))
1566
1567 Sequence diagram
1568
1569 (% style="text-align:center" %)
1570 [[image:Picture12.png]]
1571
1572
1573 === **MC_SAVECAMTABLE** ===
1574
1575 ----
1576
1577 MC_SAVECAMTABLE
1578
1579 (% style="text-align:center" %)
1580 [[image:1708937631240-106.png||_mstalt="292552"]]
1581
1582 This function block is used to save the cam table.
1583
1584 Device used (Only a single device can be used, and device splicing and offset are not supported)
1585
1586 |=(((
1587
1588
1589 **Instruction**
1590 )))|=(((
1591
1592
1593 **Parameter**
1594 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1595 | | |**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**
1596 |(% colspan="1" rowspan="7" %)(((
1597
1598
1599
1600 MC_SAVECAMTABLE
1601 )))|Execute|[[image:1708937655104-706.png||_mstalt="295243"]]|[[image:1708937655106-671.png||_mstalt="295971"]]|[[image:1708937655107-449.png||_mstalt="297206"]]|[[image:1708937655108-356.png||_mstalt="296569"]]|[[image:1708937655108-481.png||_mstalt="296205"]]| | | | | | | | | | | | | | | | | | | | |
1602 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1603 |Done| |[[image:1708937655109-459.png||_mstalt="297986"]]|[[image:1708937655110-668.png||_mstalt="296530"]]|[[image:1708937655111-873.png||_mstalt="296114"]]|[[image:1708937655111-699.png||_mstalt="297934"]]| | | | | | | | | | | | | | | | | | | | |
1604 |Busy| |[[image:1708937655112-723.png||_mstalt="294658"]]|[[image:1708937655113-511.png||_mstalt="293475"]]|[[image:1708937655113-220.png||_mstalt="292643"]]|[[image:1708937655114-762.png||_mstalt="295997"]]| | | | | | | | | | | | | | | | | | | | |
1605 |InstructionAborted| |[[image:1708937655115-940.png||_mstalt="295620"]]|[[image:1708937655116-761.png||_mstalt="296192"]]|[[image:1708937655116-242.png||_mstalt="294554"]]|[[image:1708937655117-517.png||_mstalt="296257"]]| | | | | | | | | | | | | | | | | | | | |
1606 |Error| |[[image:1708937655118-872.png||_mstalt="297544"]]|[[image:1708937655121-206.png||_mstalt="293605"]]|[[image:1708937655122-669.png||_mstalt="297557"]]|[[image:1708937655123-657.png||_mstalt="296920"]]| | | | | | | | | | | | | | | | | | | | |
1607 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1608
1609 Precautions for use of devices
1610
1611 * LC and HSC are signed 32-bit data types;
1612 * T, C, D, R and SD are signed 16-bit data types;
1613
1614 Variable type used
1615
1616 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1617 |(% colspan="1" rowspan="7" %)(((
1618
1619
1620
1621
1622 MC_SAVECAMTABLE
1623 )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1624 |CamTableID|INT|No|-|Cam tableID
1625 |(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1628 |Error|BOOL|Yes|-|Whether there is an error or not
1629 |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1630
1631 Function
1632
1633 * This function block is used to save the specified cam table.
1634
1635 (% class="box infomessage" %)
1636 (((
1637 (% _mstmutation="1" %)**✎Note:**(%%)This function block is not available when the Cam table does not exist.
1638
1639 In the process of executing this instruction, the controller cannot be powered off. Otherwise, the data will fail to be saved and the cam data will be lost.
1640 )))
1641
1642 Error code
1643
1644 |=**Error code**|=**Content**
1645 |4084H|Data beyond the specifiable range was entered.
1646
1647 Sequence diagram
1648
1649 (% style="text-align:center" %)
1650 [[image:1708937834226-438.png||_mstalt="296829"]]
1651
1652 == **Motion Function Block for Multi-axis Motion Control** ==
1653
1654 ----
1655
1656 === **MC_CAMIN** ===
1657
1658 ----
1659
1660 MC_CAMIN
1661
1662 (% style="text-align:center" %)
1663 [[image:1708937946127-139.png||_mstalt="297128"]]
1664
1665 The function block enables the controlled axis to carry out cam motion.
1666
1667 Device used (only a single device can be used, and device splicing and offset are not supported)
1668
1669 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1670 | | |**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**
1671 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1672 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1673 |MasterIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1674 |SlaveIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1675 |MasterScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1676 |SlaveScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1677 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
1678 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
1679 |StartMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1680 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1681 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1682 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1683 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1684 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1685 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1686 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1687 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1688 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1689 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1690 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1691 |EndOfProfile| | | | | | | | | | | | | | | | | | | | | | | | | |
1692
1693 Precautions for use of devices
1694
1695 * LC and HSC are signed 32-bit data types;
1696 * T, C, D, R and SD are signed 16-bit data types;
1697
1698 Variable Type Used
1699
1700 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1701 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|BOOL|No|TRUE/FALSE|Enable
1702 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1703 |MasterIndex|LREAL|No|-9999999.00~~9999999.00|Master axis offset
1704 |SlaveIndex|LREAL|No|-9999999.00~~9999999.00|Slave axis bias
1705 |MasterScaling|LREAL|No|-9999999.00~~9999999.00|Master axis scaling factor
1706 |SlaveScaling|LREAL|No|-9999999.00~~9999999.00|Slave axis scaling factor
1707 |MasterStartDistance|LREAL|No|-9999999.00~~9999999.00 (not 0)|Master axis starting distance
1708 |MasterSyncPosition|LREAL|No|-9999999.00~~9999999.00|Master axis synchronization position
1709 |StartMode|WORD|No|0 to 2|Start mode (0-Absolute, 1-Relative, 2-Catchup)
1710 |MasterValueSource|WORD|No|0 to 2|(((
1711 Master axis synchronization source
1712
1713 (Instruction value, set value and actual value)
1714 )))
1715 |CamTableID|WORD|No|0 to 9999999.00|Electronic CAM table identification
1716 |BufferMode|WORD|No|0|Mode selection
1717 |Master|WORD|No|-|Master axis
1718 |Slave|WORD|No|-|Slave axis
1719 |InSync|BOOL|No|TRUE/FALSE|Completion sign
1720 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1721 |Active|BOOL|No|TRUE/FALSE|Valid sign
1722 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1723 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1724 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1725 |EndOfProfile|WORD|No|-|Electronic CAM end signal
1726
1727 Function
1728
1729 * This function starts with the input parameter MasterSyncPosition. Before reaching the MasterSyncPosition, the catchup or transition motion is carried out according to the set parameters (absolute relative of the master axis, absolute relative of the slave axis, starting mode). After reaching the MasterSyncPosition position, the positional relationship between the master axis and the slave axis is obtained according to the camTableID, and the relationship is corrected under the set offset and scaling factors of the master axis and the slave axis, and the cam motion is carried out.
1730 * MasterSyncPosition
1731
1732 MasterSyncPosition is the absolute position when the axis mode is absolute;
1733
1734 MasterSyncPosition is the relative position when the axis mode is relative;
1735
1736 * ImSync status bit is turned ON when the master axis reaches MasterSyncPosition position and the slave axis reaches the slave axis position corresponding to the cam table of the master axis. Generally speaking, when the slave axis is in relative mode, the MC_CAMIN instruction is executed, and this status bit will be turned ON immediately; when the slave axis is in absolute or tracing mode, the status bit will be turned ON immediately after the slave axis jumps or traces to the position corresponding to the master axis cam table.
1737 * The EndOfProfle status bit is turned ON after the slave axis has followed the master axis through the entire cam table; The StartMode parameter, together with the MasterAbsolute/SlaverAbsolute parameters in the MC_CAMTABLESELECT instruction, determines the motion mode of the master/slave axis.
1738 * The master mode is only determined by MasterAbsolute and is not affected by the value in StartMode. The slave axis mode is expressed as follows:
1739
1740 |=**StartMode**|=**SlaveAbsolute**|=**Slave axis mode**
1741 |Absolute|Relative|Relative
1742 |Absolute|Absolute|Absolute
1743 |Relative|Relative|Relative
1744 |Relative|Absolute|Relative
1745 |Catch up|Relative|Relative catch up
1746 |Catch up|Absolute|Relative catch up
1747
1748 |=**Master axis mode**|=**Slave axis mode**|=**Result**
1749 |(% colspan="1" rowspan="4" %)Relative|Relative|(((
1750 When CAMIN is executed, slave axis position jumps to the set offset position;
1751
1752 When master axis is executing, slave axis performs relative motion according to the start position of cam table.
1753 )))
1754 |Absolute|(((
1755 When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0);
1756
1757 When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
1758 )))
1759 |Relative|(((
1760 When CAMIN is executed, slave axis position catches up to the set offset position;
1761
1762 When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
1763 )))
1764 |Absolute catch up|(((
1765 When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0);
1766
1767 When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
1768 )))
1769 |(% colspan="1" rowspan="4" %)Absolute|Relative|(((
1770 When CAMIN is executed, slave axis position jumps to the set offset position;
1771
1772 When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
1773 )))
1774 |Absolute|(((
1775 When CAMIN is executed, slave axis position jumps to the current slave axis position corresponding to the master axis in the cam table (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1776
1777 After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
1778 )))
1779 |Relative catch up|(((
1780 When CAMIN is executed, slave axis position catches up to the set offset position;
1781
1782 When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
1783 )))
1784 |Absolute catch up|(((
1785 When CAMIN is executed, slave axis position catches up to the current slave axis position corresponding to the master axis in the cam table
1786
1787 (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1788
1789 After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.
1790 )))
1791
1792 * When axis is in absolute mode, if the current position of the axis is not within the range of the axis in the cam table, it will be processed by self-acting periodization.
1793
1794 Example: the current axis position is 110, and the axis position in the cam table is 0~~100, then the default axis position after CAMIN execution is 10 (the actual axis position does not change);
1795
1796 * The master-slave axis multiplier and master-slave axis offset parameters take effect when CAMIN is executed and do not support modification in the process; unsuitable parameters will cause the slave axis position to jump.
1797 * The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):
1798
1799 Master Position = Master Position * Master Multiplier + Master Offset
1800
1801 Slave position = Slave multiplier * CAM (spindle position) + Slave offset
1802
1803 * The master-slave multiplier cannot be 0.
1804
1805 Precautions
1806
1807 * This function block is not available when the axis does not exist;
1808 * The motion mode of the slave axis shall be determined according to start mode and SlaveAbsolute of CamtableSelect. See “Chapter 8.6” [Description of Several Modes in E-CAM] for details. MasterValueSource is now an actual value regardless of which mode you choose.
1809
1810 Error code
1811
1812 |=**Error code**|=**Content**
1813 |4084H|Data beyond the specifiable range was entered.
1814
1815 Sequence diagram
1816
1817 ▪ MC_CAMIN needs to be used in conjunction with MC_CAMTABLESELECT and a single-axis motion (e.g., MC_MOVEABSOLUTE), the sequence diagram is as follows.
1818
1819 (% style="text-align:center" %)
1820 [[image:1708938240121-859.png||_mstalt="295776"]]
1821
1822 (1) Slave motion varies depending on StartMode.
1823
1824 Assume that the start conditions for cam motion are as follows:
1825
1826 ▪ In condition 1, the master axis jumps at the position of 20 (70~~50), and the jumping position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) changes to TRUE when it passes the position of 70, and the slave axis starts camming.
1827
1828 ▪ In condition 2, the master axis will catch up at 20 (70~~50), and the catch-up position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) becomes TRUE when it passes the position of 70, and the slave axis starts camming.
1829
1830 ▪ In condition 3, the output variable InSync (in synchronization) becomes TRUE when the master axis passes the position of 70, and the slave axis starts camming.
1831
1832
1833 |=**Input variable**|=**Condition 1**|=**Condition 2**|=**Condition 3**
1834 |MasterAbsolute|True (Absolute)|True (Absolute)|True (Absolute)
1835 |SlaveAbsolute|True (Absolute)|True (Absolute)|FALSE (Relative)
1836 |StartMode|MC_START_MODE_ABSOLUTE|MC_START_MODE_RAMPIN|MC_START_MODE_RELATIVE
1837 |MasterSyncPosition|70|70|70
1838 |MasterDistace|50|50|50
1839 |MasterOffset|0|0|0
1840 |SlaveOffset|0|0|0
1841 |MasterScaling|1|1|1
1842 |SlaveScaling|1|1|1
1843
1844 (2) Slave motion varies depending on MasterAbsolute.
1845
1846 (% style="text-align:center" %)
1847 [[image:1708938293300-489.png||_mstalt="296868"]]
1848
1849 (% style="text-align:center" %)
1850 [[image:1708938305434-874.png||_mstalt="296933"]]
1851
1852
1853 (% style="text-align:center" %)
1854 [[image:1708938314862-131.png||_mstalt="294060"]]
1855
1856 (3)Slave motion varies depending on SlaveAbsolute.
1857
1858
1859 (% style="text-align:center" %)
1860 [[image:1708938393382-857.png||_mstalt="299052"]]
1861
1862 (% style="text-align:center" %)
1863 [[image:1708938413402-528.png||_mstalt="294645"]]
1864
1865
1866 === **MC_CAMOUT** ===
1867
1868 ----
1869
1870 MC_CAMOUT
1871
1872 (% style="text-align:center" %)
1873 [[image:1708938462508-819.png||_mstalt="297947"]]
1874
1875 The function block enables the controlled axis to carry out uniform motion at current velocity.
1876
1877 Device used (only a single device can be used, and device splicing and offset are not supported)
1878
1879 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=(((
1880 **Pulse**
1881
1882 **expansion**
1883 )))
1884 | | |**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**
1885 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1886 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1887 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1888 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1889 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1890 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1891
1892 Precautions for use of devices
1893
1894 * LC and HSC are signed 32-bit data types;
1895 * T, C, D, R and SD are signed 16-bit data types;
1896
1897 Variable Type Used
1898
1899 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1900 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|BOOL|No|TRUE/FALSE|Enable
1901 |Slave|WORD|No|0 to 65535|Slave axis
1902 |Done|BOOL|No|TRUE/FALSE|Completion sign
1903 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1904 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1905 |ErrorID|DWORD|No|-|Error code
1906
1907 Function
1908
1909 * The function is used to separate the slave axis from the position relation specified for the electronic cam. Execute the MC_CamOut function block to transform the slave shaft from the synchronous state to the continuous motion state. The current velocity of the slave axis is maintained.
1910
1911 Precautions
1912
1913 * This function block is not available when the axis does not exist.
1914
1915 Sequence diagram
1916
1917 (% style="text-align:center" %)
1918 [[image:1708938589953-976.png||_mstalt="301886"]]
1919
1920
1921 === **MC_GEARIN** ===
1922
1923 ----
1924
1925 MC_GEARIN
1926
1927 (% style="text-align:center" %)
1928 [[image:1708938638291-674.png||_mstalt="298363"]]
1929
1930 The function block enables the controlled axis to carry out gear motion.
1931
1932 Device used (only a single device can be used, and device splicing and offset are not supported)
1933
1934 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1935 | | |**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**
1936 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1937 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1938 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
1939 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
1940 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1941 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1942 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1943 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1944 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1945 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1946 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1947 |InGear| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1948 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1949 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1950 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1951 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1952 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1953
1954 Precautions for use of devices
1955
1956 * LC and HSC are signed 32-bit data types;
1957 * T, C, D, R and SD are signed 16-bit data types;
1958
1959 Variable Type Used
1960
1961 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1962 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|BOOL|No|TRUE/FALSE|Enable
1963 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1964 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
1965 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
1966 |MasterValueSource|WORD|No|0 to 2|(((
1967 Master axis synchronization source
1968
1969 (Instruction value, set value and actual value)
1970 )))
1971 |Acceleration|LREAL|No|0 to 9999999.99999|Acceleration
1972 |Deceleration|LREAL|No|0 to 9999999.99999|Deceleration
1973 |Jerk|LREAL|No|0 to 9999999.99999|Jerk
1974 |BufferMode|WORD|No|0 to 5|Selection
1975 |Master|WORD|No|0 to 65536|Master axis
1976 |Slave|WORD|No|0 to 65536|Slave axis
1977 |InGear|BOOL|No|TRUE/FALSE|Completion sign
1978 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1979 |Active|BOOL|No|TRUE/FALSE|Valid sign
1980 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1981 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1982 |ErrorID|DWORD|No|-|Error code
1983
1984 Function
1985
1986 * The function block is used for establishing the synchronization of the velocity ratio between the master axis and the slave axis. Firstly, the slave axis takes the velocity of master axis multiplied by the velocity ratio as the target velocity and moves at the set acceleration and jerk and executes gear motion according to the velocity of master axis when reaching the target motion.
1987
1988 Precautions
1989
1990 * This function block is not available when the axis does not exist.
1991
1992 Error code
1993
1994 |=**Error code**|=**Content**
1995 |4084H|Data beyond the specifiable range was entered.
1996
1997 Sequence diagram
1998
1999 * After starting the motion, the slave axis performs acceleration and deceleration with the velocity obtained by multiplying the spindle speed by the gear ratio as the target speed;
2000 * Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
2001 * The gear ratio is positive and the slave axis moves in the same direction as the master axis.
2002
2003 (% style="text-align:center" %)
2004 [[image:1708938826565-617.png||_mstalt="298246"]]
2005
2006 * The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.
2007
2008 (% style="text-align:center" %)
2009 [[image:1708938850653-961.png||_mstalt="297531"]]
2010
2011
2012 Before reaching synchronization, the slave axis moves according to the maximum acceleration set by the axis as plus or minus speed, and the slave axis velocity is recognized when it is equal to the speed of the master axis multiplied by the gear ratio.
2013
2014 When the speed of the slave axis equals the speed of the master axis multiplied by the gear ratio, the gears are recognized as meshing, and thereafter the slave axis follows the master axis completely.
2015
2016 1. Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)(((
2017 (% style="text-align:center" %)
2018 [[image:1708938900938-930.png||_mstalt="297011"]]
2019 )))
2020 1. Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)(((
2021 (% style="text-align:center" %)
2022 [[image:1708938892131-173.png||_mstalt="295360"]]
2023 )))
2024
2025 === **MC_GEAROUT** ===
2026
2027 ----
2028
2029 MC_GEAROUT
2030
2031 (% style="text-align:center" %)
2032 [[image:1708938960939-798.png||_mstalt="301990"]]
2033
2034 The function block enables the controlled axis to carry out uniform motion at current velocity.
2035
2036 Device used (only a single device can be used, and device splicing and offset are not supported)
2037
2038 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2039 | | |**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**
2040 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2041 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2042 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2043 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2044 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2045 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2046
2047 Precautions for use of devices
2048
2049 * LC and HSC are signed 32-bit data types;
2050 * T, C, D, R and SD are signed 16-bit data types;
2051
2052 Variable Type Used
2053
2054 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2055 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|BOOL|No|TRUE/FALSE|Enable
2056 |Slave|WORD|No|0 to 65535|Axis number
2057 |Done|BOOL|No|TRUE/FALSE|Completion sign
2058 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2059 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2060 |ErrorID|DWORD|No|-|Error code
2061
2062 Function
2063
2064 * The function block is used for separating the slave axis from the master axis at the velocity ratio and maintaining the motion at the velocity when it separates.
2065
2066 Precautions
2067
2068 * This function block is not available when the axis does not exist.
2069
2070 Sequence diagram
2071
2072 (% style="text-align:center" %)
2073 [[image:1708939163693-763.png||_mstalt="298233"]]
2074
2075 === ** MC_GEARINPOS** ===
2076
2077 ----
2078
2079 MC_GEARINPOS
2080
2081 (% style="text-align:center" %)
2082 [[image:1708939230407-562.png||_mstalt="294801"]]
2083
2084 The function block enables the controlled axis to carry out gear motion.
2085
2086 Device used (only a single device can be used, and device splicing and offset are not supported)
2087
2088
2089 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2090 | | |**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**
2091 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2092 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
2093 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
2094 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
2095 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2096 |SlaveSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2097 |SyncMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2098 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
2099 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2100 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2101 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2102 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2103 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2104 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
2105 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2106 |StartSync| | | | | | | | | | | | | | | | | | | | | | | | | |
2107 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2108 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2109 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2110 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2111 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2112 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2113
2114 Precautions for use of devices
2115
2116 * LC and HSC are signed 32-bit data types;
2117 * C, D, R and SD are signed 16-bit data types.
2118
2119 Variable Type Used
2120
2121 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2122 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|BOOL|No|TRUE/FALSE|Enable
2123 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
2124 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
2125 |MasterValueSource|WORD|No|0 to 2|(((
2126 Master axis synchronization source
2127
2128 (Instruction value, set value and actual value)
2129 )))
2130 |MasterSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Master axis synchronization position
2131 |SlaveSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Slave axis synchronization position
2132 |SyncMode|WORD|No|0 to 2|Synchronous mode (shortest, catchup, slowdown)
2133 |MasterStartDistance|LREAL|No|-9999999.999999 to 9999999.999999 (not 0)|Master axis starting distance
2134 |Velocity|LREAL|No|0 to 9999999.999999 (not 0)|Velocity
2135 |Acceleration|LREAL|No|0 to 9999999.999999 (not 0)|Acceleration
2136 |Deceleration|LREAL|No|0 to 9999999.999999 (not 0)|Deceleration
2137 |Jerk|LREAL|No|0 to 9999999.999999|Jerk
2138 |BufferMode|WORD|No|0 to 5|Buffer mode selection
2139 |Master|WORD|No|0 to 65535|Master axis
2140 |Slave|WORD|No|0 to 65535|Slave axis
2141 |StartSync|BOOL|No|TRUE/FALSE|Synchronous identification
2142 |InSync|BOOL|No|TRUE/FALSE|Synchronized sign
2143 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2144 |Active|BOOL|No|TRUE/FALSE|Valid sign
2145 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
2146 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2147 |ErrorID|DWORD|No|-|Error code
2148
2149 Function
2150
2151 * The function block is used to achieve the specified velocity ratio between the slave axis and master axis at the specific position through a set maximum velocity, acceleration, deceleration, jerk and synchronous mode.
2152
2153 Precautions
2154
2155 * This function block is not available when the axis does not exist.
2156
2157 Error code
2158
2159 |=**Error code**|=**Content**
2160 |4084H|Data beyond the specifiable range was entered.
2161
2162 Sequence diagram
2163
2164 * After starting the motion, the slave axis performs acceleration and deceleration with the speed obtained by multiplying the axis velocity by the gear ratio as the target velocity;
2165 * The position obtained by ▪ (MasterSyncPosition - MasterStartDistance) is called the start position, and after the master axis reaches this position, the slave axis starts to catching up with the target;
2166 * If the gear ratio is positive, the slave axis moves in the same direction as the master axis.
2167
2168 (% style="text-align:center" %)
2169 [[image:1708939532879-130.png||_mstalt="296231"]]
2170
2171 * If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.
2172
2173 (% style="text-align:center" %)
2174 [[image:1708939562781-830.png||_mstalt="296764"]]
2175
2176 * Before reaching synchronization, the slave axis moves at the maximum acceleration set by the axis as plus or minus speed, and is recognized when the slave axis speed is equal to the speed of the master axis multiplied by the gear ratio.
2177 * When the speed of the slave axis equals the velocity of the master axis multiplied by the gear ratio, the gears are considered to be meshed, and thereafter the slave axis follows the main axis completely.
2178
2179 1. The master axis moves at a constant speed until synchronization is achieved (The gear instruction is triggered at a gear ratio of 1:1).(((
2180 (% style="text-align:center" %)
2181 [[image:1708939646390-943.png||_mstalt="297947"]]
2182 )))
2183 1. (((
2184 Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)
2185
2186 (% style="text-align:center" %)
2187 [[image:1708939657645-807.png||_mstalt="298857"]]
2188 )))
2189
2190 gearInPos carries out the pursuit motion in the following three modes, all following the spindle in gear motion after the target speed has been reached:
2191
2192 * Shortest: catching in constant acceleration mode;
2193 * Catchuo: catching in S-curve;
2194 * Slowdown: catching up in T-curve.
2195
2196 (% class="box infomessage" %)
2197 (((
2198 **✎** **Note:** When the amount of movement in the chase is short, there may be an abrupt change in speed from the axis to the target position and then directly to the target speed.
2199 )))
2200
2201
2202 == **Management functions of axis group motion control** ==
2203
2204 ----
2205
2206 === **MC_ADDAXISTOGROUP** ===
2207
2208 ----
2209
2210 MC_ADDAXISTOGROUP
2211
2212 (% style="text-align:center" %)
2213 [[image:1708999788060-281.png||_mstalt="297531"]]
2214
2215 The function block is to add axis to axis group.
2216
2217 Device used (Only a single device can be used, and device splicing and index are not supported)
2218
2219 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2220 | | |**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**
2221 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2222 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2223 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2224 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2225 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2226 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2227 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2228
2229 Precautions for use of devices
2230
2231 ▪LC and HSC are signed 32-bit data types;
2232
2233 ▪T, C, D, R and SD are signed 16-bit data types;
2234
2235 Variable type used
2236
2237 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2238 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2239 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2240 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2241 |Axis|WORD|No|[0 to 65535]|Axis number
2242 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2243 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2244 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2245 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2246
2247 Features
2248
2249 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2250
2251 ▪IndentInGroup is a flag of the adding axis order to axis group.
2252
2253 (% class="box infomessage" %)
2254 (((
2255 ✎Note:
2256
2257 ▪If the serial number of the axis group does not exist, an error will be reported;
2258
2259 ▪When the axis group is enabled, an error will be reported when add new axis;
2260
2261 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2262 )))
2263
2264 Error code
2265
2266 |=**Error code**|=**Content**
2267 |4084H|Data beyond the specifiable range was input.
2268
2269 (% style="font-size:14px" %)Sequence diagram
2270
2271 (% style="text-align:center" %)
2272 [[image:1709000371923-181.png||_mstalt="292591"]]
2273
2274 === **MC_REMOVEAXISFROMGROUP** ===
2275
2276 ----
2277
2278 MC_REMOVEAXISFROMGROUP
2279
2280 (% style="text-align:center" %)
2281 [[image:1709000436811-846.png||_mstalt="294346"]]
2282
2283 This function block removes axis from an axis group.
2284
2285 Device used (Only a single device can be used, and device splicing and index are not supported)
2286
2287 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2288 | | |**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**
2289 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2290 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2291 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2292 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2293 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2294 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2295 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2296
2297 Precautions for use of devices
2298
2299 ▪LC and HSC are signed 32-bit data types;
2300
2301 ▪T, C, D, R and SD are signed 16-bit data types;
2302
2303 Variable type used
2304
2305 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2306 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2307 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2308 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2309 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2310 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2311 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2312 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2313
2314 Features
2315
2316 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2317
2318 (% class="box infomessage" %)
2319 (((
2320 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2321
2322 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2323
2324 ▪Single-axis operation can only be executed when the axis group is disabled, and whether it is removed or not will not affect the single-axis operation.
2325 )))
2326
2327 Error code
2328
2329 |=**Error code**|=**Content**
2330 |4084H|Data beyond the specifiable range was input.
2331
2332 Sequence diagram
2333
2334 (% style="text-align:center" %)
2335 [[image:1709000691345-890.png||_mstalt="295061"]]
2336
2337 === **MC_UNGROUPALLAXES** ===
2338
2339 ----
2340
2341 MC_UNGROUPALLAXES
2342
2343 (% style="text-align:center" %)
2344 [[image:1709000738471-185.png||_mstalt="294762"]]
2345
2346 This function block removes all the axes from an axis group.
2347
2348 Device used (Only a single device can be used, and device splicing and index are not supported)
2349
2350 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2351 | | |**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**
2352 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2353 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2354 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2355 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2356 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2357 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2358
2359 Precautions for use of devices
2360
2361 ▪LC and HSC are signed 32-bit data types;
2362
2363 ▪T, C, D, R and SD are signed 16-bit data types;
2364
2365 Variable type used
2366
2367 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2368 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2369 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2370 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2371 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2372 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2373 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2374
2375 Features
2376
2377 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2378
2379 (% class="box infomessage" %)
2380 (((
2381 ✎Note:
2382
2383 ▪If the serial number of the axis group does not exist, an error will be reported;
2384
2385 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2386 )))
2387
2388 Error code
2389
2390 |=**Error code**|=**Content**
2391 |4084H|Input data beyond the specifiable range
2392
2393 (% style="font-size:14px" %)Sequence diagram
2394
2395 (% style="text-align:center" %)
2396 [[image:1709001126146-829.png||_mstalt="294489"]]
2397
2398 === **MC_GROUPENABLE** ===
2399
2400 ----
2401
2402 MC_GROUPENABLE
2403
2404 (% style="text-align:center" %)
2405 [[image:1709001201497-541.png||_mstalt="292682"]]
2406
2407
2408 The function block is axis group enabled.
2409
2410 Device used (Only a single device can be used, and device splicing and index are not supported)
2411
2412 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2413 | | |**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**
2414 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2415 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2416 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2417 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2418 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2419 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2420
2421 Precautions for use of devices
2422
2423 ▪LC and HSC are signed 32-bit data types;
2424
2425 ▪T, C, D, R and SD are signed 16-bit data types.
2426
2427 Variable type used
2428
2429 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2430 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2431 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2432 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2433 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2434 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2435 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2436
2437 Features
2438
2439 ▪Enable axis group to run on the Execute rising edge.
2440
2441 (% class="box infomessage" %)
2442 (((
2443 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2444
2445 ▪When a single axis is running, enabling this block will report an error.
2446 )))
2447
2448 Error code
2449
2450 |=**Error code**|=**Content**
2451 |4084H|Input data beyond the specifiable range
2452
2453 === **MC_GROUPDISABLE** ===
2454
2455 ----
2456
2457 MC_GROUPDISABLE
2458
2459 (% style="text-align:center" %)
2460 [[image:1709001439118-784.png||_mstalt="295594"]]
2461
2462 This function block is axis group disabled.
2463
2464 Device used (Only a single device can be used, an d device splicing and index are not supported)
2465
2466 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2467 | | |**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**
2468 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2469 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2470 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2471 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2472 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2473 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2474
2475 Precautions for use of devices
2476
2477 ▪LC and HSC are signed 32-bit data types;
2478
2479 ▪T, C, D, R and SD are signed 16-bit data types.
2480
2481 Variable type used
2482
2483 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2484 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2485 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2486 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2487 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2488 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2489 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2490
2491 Features
2492
2493 ▪On the Execute rising edge, disable the axis group.
2494
2495 (% class="box infomessage" %)
2496 (((
2497 ✎Note:
2498
2499 ▪Single axis operation can only be executed when the group is disabled.
2500
2501 ▪When a single axis is running, disabling this block will report an error.
2502 )))
2503
2504 Error code
2505
2506 |=**Error code**|=**Content**
2507 |4084H|Input data beyond the specifiable range
2508
2509 === **MC_GROUPREDACTUALPOSITION** ===
2510
2511 ----
2512
2513 MC_GROUPREADACTUALPOSITION
2514
2515 (% style="text-align:center" %)
2516 [[image:1709001728776-330.png||_mstalt="294255"]]
2517
2518 This function block is to read the actual position of each axis from the axis group.
2519
2520 Device used (Only a single device can be used, and device splicing and index are not supported)
2521
2522 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2523 | | |**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**
2524 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2525 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2526 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2527 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2528 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2529 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2530 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2531 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2532
2533 Precautions for use of devices
2534
2535 ▪LC and HSC are signed 32-bit data types;
2536
2537 ▪T, C, D, R and SD are signed 16-bit data types.
2538
2539 Variable type used
2540
2541 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2542 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2543 |CoordSystem|WORD|Yes|0|Coordinate system
2544 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2545 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2546 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2547 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2548 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2549 |Position|LREAL array|Yes| |Position
2550
2551 Features
2552
2553 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2554
2555 Error code
2556
2557 |=**Error code**|=**Content**
2558 |4084H|Input data beyond the specifiable range
2559
2560 === **MC_GROUPREADACTUALVELOCITY** ===
2561
2562 ----
2563
2564 MC_GROUPREADACTUALVELOCITY
2565
2566 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2567 (((
2568 (% data-widget="image" style="text-align: center;" %)
2569 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2570
2571 (% style="background:url(~"https://docs.we-con.com.cn/webjars/wiki%3Axwiki/xwiki-platform-ckeditor-webjar/16.0.0/plugins/widget/images/handle.png~") rgba(220, 220, 220, 0.5); left:0px; top:-15px" %)[[image:data:image/gif;base64,R0lGODlhAQABAPABAP///wAAACH5BAEKAAAALAAAAAABAAEAAAICRAEAOw==||_mstalt="186680" height="15" role="presentation" title="Click and drag to move" width="15"]]
2572 )))
2573
2574 This function block is to read the actual velocity of each axis from the axis group.
2575
2576 Device used (Only a single device can be used, and device splicing and index are not supported)
2577
2578 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2579 | | |**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**
2580 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2581 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2582 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2583 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2584 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2585 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2586 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2587 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2588 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2589
2590 Precautions for use of devices
2591
2592 ▪LC and HSC are signed 32-bit data types;
2593
2594 ▪T, C, D, R and SD are signed 16-bit data types;
2595
2596 Variable type used
2597
2598
2599 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2600 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2601 |CoordSystem|WORD|Yes|0|Coordinate system
2602 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2603 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2604 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2605 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2606 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2607 |Velocity|LREAL array|Yes| |Velocity
2608 |PathVelocity|LREAL|Yes| |Path velocity
2609
2610 Features
2611
2612 * (((
2613 When Enable=true, the velocity of each axis and the current TCP path velocity (the result of combined velocity) of the selected axis group in the selected coordinate system are continuously returned.
2614 )))
2615
2616 Error code
2617
2618 |=**Error code**|=**Content**
2619 |4084H|Data beyond the specifiable range was input.
2620
2621 === **MC_GROUPREADERROR** ===
2622
2623 ----
2624
2625 MC_GROUPREADERROR
2626
2627 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2628 (((
2629 (% data-widget="image" style="text-align: center;" %)
2630 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2631
2632 (% style="background:url(~"https://docs.we-con.com.cn/webjars/wiki%3Axwiki/xwiki-platform-ckeditor-webjar/16.0.0/plugins/widget/images/handle.png~") rgba(220, 220, 220, 0.5); left:0px; top:-15px" %)[[image:data:image/gif;base64,R0lGODlhAQABAPABAP///wAAACH5BAEKAAAALAAAAAABAAEAAAICRAEAOw==||_mstalt="186680" height="15" role="presentation" title="Click and drag to move" width="15"]]
2633 )))
2634
2635
2636 The function block is axis group to read error.
2637
2638 Device used (Only a single device can be used, and device splicing and index are not supported)
2639
2640 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2641 | | |**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**
2642 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2643 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2644 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2645 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2646 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2647 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2648 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2649
2650 Precautions for use of devices
2651
2652 ▪LC and HSC are signed 32-bit data types;
2653
2654 ▪T, C, D, R and SD are signed 16-bit data types;
2655
2656 Variable type used
2657
2658 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2659 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2660 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2661 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2662 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2663 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2664 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2665 |GroupErrorID|DWROD|Yes| |Axis group error code
2666
2667 Features
2668
2669 ▪When Enable= true, read the axis group error status.
2670
2671 Error code
2672
2673 |=**Error code**|=**Content**
2674 |4084H|Input data beyond the specifiable range
2675
2676 === **MC_GROUPREADSTATUS** ===
2677
2678 ----
2679
2680 MC_GROUPREADSTATUS
2681
2682 (% style="text-align:center" %)
2683 [[image:1709002503132-985.png||_mstalt="293943"]]
2684
2685 This function block reads the status of the currently activated axis group.
2686
2687 Device used (Only a single device can be used, and device splicing and index are not supported)
2688
2689 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2690 | | |**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**
2691 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2692 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2693 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2694 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2695 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2696 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2697 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2698
2699 Precautions for use of devices
2700
2701 ▪LC and HSC are signed 32-bit data types;
2702
2703 ▪T, C, D, R and SD are signed 16-bit data types;
2704
2705 Variable type used
2706
2707 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2708 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2709 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2710 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2711 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2712 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2713 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2714 |GroupErrorID|DWROD|Yes| |Axis group error code
2715
2716 Features
2717
2718 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2719
2720 ▪ConstantVelocity is set to ON when moving at constant velocity on the command path.[[image:1709002654690-619.png||_mstalt="295698"]]Accelerating and decelerating is set to ON when the velocity increases or decreases on the command path.
2721
2722 ▪ InPosition is set to ON when reach the target position.
2723
2724 Error code
2725
2726 |=**Error code**|=**Content**
2727 |4084H|Input data beyond the specifiable range
2728
2729 === **MC_GROUPRESET** ===
2730
2731 ----
2732
2733 MC_GROUPRESET
2734
2735 (% style="text-align:center" %)
2736 [[image:1709002711461-974.png||_mstalt="294619"]]
2737
2738
2739 The function block is axis group reset.
2740
2741 Device used (Only a single device can be used, and device splicing and index are not supported)
2742
2743 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2744 | | |**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**
2745 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2746 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2747 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2748 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2749 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2750 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2751
2752 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2753 Precautions for use of devices
2754
2755 ▪LC and HSC are signed 32-bit data types;
2756
2757 ▪T, C, D, R and SD are signed 16-bit data types.
2758
2759 (% class="wikigeneratedid" id="HVariabletypeused" %)
2760 Variable type used
2761
2762 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2763 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2764 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2765 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2766 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2767 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2768 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2769
2770 Features
2771
2772 ▪Reset the axis group from the error status to the enabled status when on the Execute rising edge, which is similar with the single-axis MC_Reset.
2773
2774 Error code
2775
2776 |=**Error code**|=**Content**
2777 |4084H|Input data beyond the specifiable range
2778
2779 === **MC_GROUPREADACTUALACCELERATION** ===
2780
2781 ----
2782
2783 MC_GROUPREADACTUALACCELERATION
2784
2785 (% style="text-align:center" %)
2786 [[image:1709002873108-663.png||_mstalt="294645"]]
2787
2788 This function block is to read the actual acceleration of each axis from the axis group.
2789
2790 Device used (Only a single device can be used, and device splicing and index are not supported)
2791
2792 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2793 | | |**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**
2794 |(% colspan="1" rowspan="9" %)(((
2795 MC_GROUPREADACTUALACCELERATION
2796
2797
2798 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2799 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2800 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2801 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2802 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2803 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2804 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2805 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2806 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2807
2808 Precautions for use of devices
2809
2810 ▪LC and HSC are signed 32-bit data types;
2811
2812 ▪T, C, D, R and SD are signed 16-bit data types;
2813
2814 Variable type used
2815
2816 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2817 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2818 |CoordSystem|WORD|Yes|0|Coordinate system
2819 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2820 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2821 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2822 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2823 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2824 |Acceleration|LREAL array|Yes| |Acceleration
2825 |PathAcceleration|LREAL|Yes| |Path acceleration
2826
2827 Features
2828
2829 ▪When Enable=true, the acceleration of each axis and the current TCP path acceleration (The result of combined acceleration) of the selected axis group in the selected coordinate system are continuously returned.
2830
2831 Error code
2832
2833 |=**Error code**|=**Content**
2834 |4084H|Data beyond the specifiable range was input.
2835
2836 == **Axis group motion Function Blocks** ==
2837
2838 ----
2839
2840 === **MC_GROUPSTOP** ===
2841
2842 ----
2843
2844 MC_GROUPSTOP
2845
2846 (% style="text-align:center" %)
2847 [[image:1709003200997-104.png||_mstalt="292578"]]
2848
2849
2850 The function block is use to stop axis group.
2851
2852 Device used (Only a single device can be used, and device splicing and index are not supported)
2853
2854 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2855 | | |**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**
2856 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2857 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2858 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2859 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2860 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2861 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2862 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2863 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2864 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2865 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2866
2867 Precautions for use of devices
2868
2869 ▪LC and HSC are signed 32-bit data types;
2870
2871 ▪T, C, D, R and SD are signed 16-bit data types;
2872
2873 Variable type used
2874
2875 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2876 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2877 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2878 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2879 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2880 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2881 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2882 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2883 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2884 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2885 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2886
2887 Features
2888
2889 ▪When on the Execute rising edge, the axis group decelerate to stop and any functional block being executed is stopped. When Execute=true, the axis group is on the stop status and cannot execute other axis group motion instruction.
2890
2891 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2892
2893 ▪Only MC_GroupDisable can be used to interrupt axis group.
2894
2895 Error code
2896
2897 |=**Error code**|=**Content**
2898 |4084H|Input data beyond the specifiable range
2899
2900 === **MC_GROUPHALT** ===
2901
2902 ----
2903
2904 MC_GROUPHALT
2905
2906 (% style="text-align:center" %)
2907 [[image:1709003451573-543.png||_mstalt="293722"]]
2908
2909 The function block is to halt axis group.
2910
2911 Device used (Only a single device can be used, and device splicing and index are not supported)
2912
2913 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2914 | | |**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**
2915 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2916 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2917 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2918 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2919 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2920 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2921 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2922 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2923 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2924 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2925
2926 Precautions for use of devices
2927
2928 ▪LC and HSC are signed 32-bit data types;
2929
2930 ▪T, C, D, R and SD are signed 16-bit data types;
2931
2932 Variable type used
2933
2934 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2935 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2936 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2937 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2938 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2939 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2940 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2941 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2942 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2943 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2944 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2945
2946 Features
2947
2948 ▪When on the Execute rising edge, the axis group decelerate to stop, any function block being executed is stopped, and the axis group velocity is 0. Done is set to on;
2949
2950 ▪Unbuffered mode: During axis group deceleration, if another function block with mcAborting buffer mode is executed, the current function block is interrupted and the new function block is executed immediately.
2951
2952 Error code
2953
2954 |=**Error code**|=**Content**
2955 |4084H|Data beyond the specifiable range was input.
2956
2957 === **MC_MOVELINEARABSOLUTE** ===
2958
2959 ----
2960
2961 MC_MOVELINEARABSOLUTE
2962
2963 (% style="text-align:center" %)
2964 [[image:1709003761756-581.png||_mstalt="295724"]]
2965
2966 This function block is absolute position linear interpolation.
2967
2968 Device used (Only a single device can be used, and device splicing and index are not supported)
2969
2970 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2971 | | |**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**
2972 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2973 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2974 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2975 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2976 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2977 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2978 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2979 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2980 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2981 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2982 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2983 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2984 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2985 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2986 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2987 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2988 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2989
2990 Precautions for use of devices
2991
2992 ▪LC and HSC are signed 32-bit data types;
2993
2994 ▪T, C, D, R and SD are signed 16-bit data types;
2995 Variable type used
2996
2997 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2998 |(% rowspan="17" %)(((
2999 MC_MOVELINEARABSOLUTE
3000 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3001 |Position|LREAL array|No|-|Position
3002 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3003 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3004 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3005 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3006 |CoordSystem|WORD|Yes|0|Coordinate system
3007 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3008 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3009 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3010 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3011 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3012 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3013 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3014 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3015 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3016 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3017
3018 Features
3019
3020 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3021
3022 (% class="box infomessage" %)
3023 (((
3024 ✎Note:
3025
3026 ▪The axis group can be moved only when being enabled;
3027
3028 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3029
3030 ▪Linear motion is allowed to be interrupted;
3031
3032 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3033 )))
3034
3035 Error code
3036
3037 |=**Error code**|=**Content**
3038 |4084H|Input data beyond the specifiable range
3039
3040 (% style="text-align:center" %)
3041 [[image:1709004126151-658.png||_mstalt="294008"]]
3042
3043 === **MC_MOVELINEARRELATIVE** ===
3044
3045 ----
3046
3047 MC_MOVELINEARRELATIVE
3048
3049 (% style="text-align:center" %)
3050 [[image:1709004271451-886.png||_mstalt="295594"]]
3051
3052
3053 This function block is relative position linear interpolation.
3054
3055 Device used (Only a single device can be used, and device splicing and index are not supported)
3056
3057 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3058 | | |**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**|(% colspan="2" %)**[D]**|(% colspan="2" %)**XXP**
3059 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3060 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3061 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3062 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3063 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3064 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3065 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3066 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3067 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3068 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3069 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3070 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3071 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3072 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076
3077 Precautions for use of devices
3078
3079 ▪LC and HSC are signed 32-bit data types;
3080
3081 ▪T, C, D, R and SD are signed 16-bit data types.
3082
3083 Variable type used
3084
3085 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3086 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3087 |Distance|LREAL array|No|-|Position
3088 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3089 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3090 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3091 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3092 |CoordSystem|WORD|Yes|-|Coordinate system
3093 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3094 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3095 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3096 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3097 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3098 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3099 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3100 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3101 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3102 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3103
3104 Features
3105
3106 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3107
3108 (% class="box infomessage" %)
3109 (((
3110 ✎Note:▪The axis group can be moved only when being enabled;
3111
3112 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3113
3114 ▪Linear motion is allowed to be interrupted;
3115
3116 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3117 )))
3118
3119 Error code
3120
3121 |=**Error code**|=**Content**
3122 |4084H|Input data beyond the specifiable range
3123
3124 (% style="text-align:center" %)
3125 [[image:1709004561796-657.png||_mstalt="297674"]]
3126
3127 === **MC_MOVECIRCULARABSOLUTE** ===
3128
3129 ----
3130
3131 MC_MOVECIRCULARABSOLUTE
3132
3133 (% style="text-align:center" %)
3134 [[image:1709004628989-926.png||_mstalt="299143"]]
3135
3136 The function block is absolute position circular interpolation.
3137
3138 Device used (Only a single device can be used, and device splicing and index are not supported)
3139
3140 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3141 | | |**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**
3142 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3143 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3144 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3145 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3146 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3147 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3148 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3149 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3150 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3151 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3152 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3153 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3154 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3155 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3156 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3157 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3158 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3159 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3160 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3161 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3162
3163 Precautions for use of devices
3164
3165 ▪LC and HSC are signed 32-bit data types;
3166
3167 ▪T, C, D, R and SD are signed 16-bit data types;
3168 Variable type used
3169
3170 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3171 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3172 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3173 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3174 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3175 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3176 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3177 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3178 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3179 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3180 |CoordSystem|WORD|Yes|0|Coordinate system
3181 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3182 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3183 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3184 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3185 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3186 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3187 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3188 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3189 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3190 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3191
3192 Features
3193
3194 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3195
3196 (% class="box infomessage" %)
3197 (((
3198 ✎Note**:**
3199
3200 ▪The axis group can be moved only when being enabled;
3201
3202 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3203
3204 ▪Linear motion is allowed to be interrupted;
3205
3206 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3207 )))
3208
3209 Error code
3210
3211 |=**Error code**|=**Content**
3212 |4084H|Input data beyond the specifiable range
3213
3214 (% style="text-align:center" %)
3215 [[image:1709005028485-788.png||_mstalt="297895"]]
3216
3217 === **MC_MOVECIRCULARRELATIVE** ===
3218
3219 ----
3220
3221 MC_MOVECIRCULARRELATIVE
3222
3223 (% style="text-align:center" %)
3224 [[image:1709005280026-492.png||_mstalt="293397"]]
3225
3226 Device used (Only a single device can be used, and device splicing and index are not supported)
3227
3228 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3229 | | |**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**
3230 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3231 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3232 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3233 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3234 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3235 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3236 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3237 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3238 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3239 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3240 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3241 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3242 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3243 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3244 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3245 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3246 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3247 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3248 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3249 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3250
3251 Precautions for use of devices
3252
3253 ▪LC and HSC are signed 32-bit data types;
3254
3255 ▪T, C, D, R and SD are signed 16-bit data types;
3256
3257 Variable type used
3258
3259 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3260 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3261 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3262 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3263 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3264 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3265 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3266 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3267 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3268 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3269 |CoordSystem|WORD|Yes|-|Coordinate system
3270 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3271 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3272 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3273 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3274 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3275 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3276 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3277 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3278 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3279 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3280
3281 Features
3282
3283 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3284
3285 (% class="box infomessage" %)
3286 (((
3287 ✎Note:
3288
3289 ▪The axis group can be moved only when being enabled;
3290
3291 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3292
3293 ▪Linear motion is allowed to be interrupted;
3294
3295 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3296 )))
3297
3298 Error code
3299
3300 |=**Error code**|=**Content**
3301 |4084H|Input data beyond the specifiable range
3302
3303 (% style="text-align:center" %)
3304 [[image:1709005752944-678.png||_mstalt="297869"]]
3305
3306 === **MC_MOVEDIRECTABSOLUTE** ===
3307
3308 ----
3309
3310 MC_MOVEDIRECTABSOLUTE
3311
3312 (% style="text-align:center" %)
3313 [[image:1709012205292-858.png||_mstalt="295360"]]
3314
3315 This function block is the fast positioning of absolute position.
3316
3317 Device used (Only a single device can be used, and device splicing and index are not supported)
3318
3319 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3320 | | |**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**
3321 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3322 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3323 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3324 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3325 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3326 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3327 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3328 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3329 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3330 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3331 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3332 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3333 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3334
3335 Precautions for use of devices
3336
3337 ▪LC and HSC are signed 32-bit data types;
3338
3339 ▪T, C, D, R and SD are signed 16-bit data types;
3340
3341 Variable type used
3342
3343 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3344 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3345 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3346 |CoordSystem|WORD|Yes|0|Coordinate system
3347 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3348 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3349 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3350 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3351 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3352 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3353 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3354 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3355 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3356 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3357
3358 Features
3359
3360 ▪ The function block puts the axis group to the absolute position specified in the specific coordinate system, and does not emphasize on how to reach the target position;
3361
3362 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3363
3364 (% class="box infomessage" %)
3365 (((
3366 ✎Note:
3367
3368 ▪The axis group can be moved only when being enabled;
3369
3370 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3371
3372 ▪Linear motion is allowed to be interrupted;
3373
3374 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3375
3376 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3377 )))
3378
3379 Error code
3380
3381 |=**Error code**|=**Content**
3382 |4084H|Data beyond the specifiable range was input.
3383
3384 (% style="text-align:center" %)
3385 [[image:1709012383461-841.png||_mstalt="293800"]]
3386
3387 === **MC_MOVEDIRECTRELATIVE** ===
3388
3389 ----
3390
3391 MC_MOVEDIRECTRELATIVE
3392
3393 (% style="text-align:center" %)
3394 [[image:1709012442595-305.png||_mstalt="293592"]]
3395
3396 The function block executes the fast positioning of the relative position.
3397
3398 Device used (Only a single device can be used, and device splicing and index are not supported)
3399
3400 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3401 | | |**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**
3402 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3403 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3404 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3405 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3406 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3407 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3408 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3409 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3410 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3411 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3412 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3413 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3414 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3415
3416 Precautions for use of devices
3417
3418 ▪LC and HSC are signed 32-bit data types;
3419
3420 ▪T, C, D, R and SD are signed 16-bit data types;
3421
3422 Variable type used
3423
3424 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3425 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3426 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3427 |CoordSystem|WORD|Yes|0|Coordinate system
3428 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3429 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3430 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3431 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3432 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3433 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3434 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3435 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3436 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3437 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3438
3439 Features
3440
3441 ▪ The function block puts the axis group to the relative position specified in the specific coordinate system, and does not emphasize on how to reach the target position;
3442
3443 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3444
3445 (% class="box infomessage" %)
3446 (((
3447 ✎Note:
3448
3449 ▪The axis group can be moved only when being enabled;
3450
3451 ▪All velocities and accelerations are in a safe range, and subject to the maximum velocity and acceleration that can be reached (Affected by the planning velocity, the limited velocity and acceleration set in the FB). If all the velocities and accelerations exceed the limit, they should be reduced to the limit.
3452
3453 ▪Linear motion is allowed to be interrupted;
3454
3455 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3456
3457 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3458 )))
3459
3460 Error code
3461
3462 |=**Error code**|=**Content**
3463 |4084H|Input data beyond the specifiable range
3464
3465 (% style="text-align:center" %)
3466 [[image:1709012732094-708.png||_mstalt="294580"]]
3467
3468 == **Other special FB** ==
3469
3470 ----
3471
3472 === **MC_MOVEJOG** ===
3473
3474 ----
3475
3476 MC_MOVEJOG
3477
3478 (% style="text-align:center" %)
3479 [[image:1709014222028-861.png||_mstalt="293059"]]
3480
3481 The function block makes the controlled axis execute micro motion at the set target velocity.
3482
3483 Device used (Only a single device can be used, and device splicing and index are not supported)
3484
3485 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3486 | | |**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**
3487 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3488 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3489 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3490 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3491 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3492 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3493 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3494 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3495 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3496 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3497
3498 Precautions for use of devices
3499
3500 ▪LC and HSC are signed 32-bit data types;
3501
3502 ▪T, C, D, R and SD are signed 16-bit data types;
3503
3504 Variable type used
3505
3506 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3507 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3508 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3509 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3510 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3511 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3512 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3513 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3514 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3515 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3516 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3517
3518 Features
3519
3520 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3521
3522 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3523
3524 ▪In the process of positive motion, modifying the Enablepositive to FALSE causes deceleration until the axis stops. In the process of deceleration, if Enablepositive is changed to TRUE, the axis will continue to move until reaching the specified velocity. In the process of deceleration, if EnableNegative is changed to TRUE, the axis will decrease its velocity to 0 and then execute negative motion until its velocity reaches the specified velocity.
3525
3526 (% class="box infomessage" %)
3527 (((
3528 ✎Note:
3529
3530 ▪This function is not available when the axis does not exist.
3531
3532 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3533 )))
3534
3535 Error code
3536
3537 |=**Error code**|=**Content**
3538 |4084H|Input data beyond the specifiable range
3539
3540 (% style="text-align:center" %)
3541 [[image:1709014420505-664.png||_mstalt="293254"]]
3542
3543 === **MC_COMBINEAXES** ===
3544
3545 ----
3546
3547 MC_COMBINEAXES
3548
3549 (% style="text-align:center" %)
3550 [[image:1709014499579-362.png||_mstalt="297700"]]
3551
3552 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3553
3554 Device used (Only a single device can be used, and device splicing and index are not supported)
3555
3556 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3557 | | |**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**
3558 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3559 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3560 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3561 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3562 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3563 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3564 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3565 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3566 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3567 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3568 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3569 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3570 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3571 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3572
3573 Precautions for use of devices
3574
3575 ▪LC and HSC are signed 32-bit data types;
3576
3577 ▪T, C, D, R and SD are signed 16-bit data types;
3578
3579 Variable type used
3580
3581 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3582 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3583 |ConbineMode|WORD|Yes|[0 to 1]|(((
3584 Addition and subtraction operation selection
3585
3586 0: Addition
3587
3588 1: Subtraction
3589 )))
3590 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3591 Master axis position type
3592
3593 1: Feedback position
3594
3595 2: Instruction position
3596 )))
3597 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3598 Auxiliary axis position type
3599
3600 1: Feedback position
3601
3602 2: Instruction position
3603 )))
3604 |BufferMode|LREAL|No|0|Mode selection
3605 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3606 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3607 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3608 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3609 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3610 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3611 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3612 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3613 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3614
3615 Features
3616
3617 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3618
3619 (% class="box infomessage" %)
3620 (((
3621 ✎Note:
3622
3623 ▪Unable to restart this instruction;
3624
3625 ▪To end this instruction, MC_construction is needed;
3626
3627 ▪This instruction does not execute in-place inspection;
3628
3629 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3630
3631 ▪This instruction is not affected by the abnormal status of the main axis and auxiliary axis. When the abnormal status is released, the slave axis continues to execute the addition and subtraction positioning operation. In addition, when this instruction is enabled and the axis is abnormal, this instruction is interrupted, but it has no effect on the master axis and the slave axis;
3632
3633 ▪When MC_setposition instruction is executed for the master axis or the auxiliary axis, it may happen that the slave axis catches at a large velocity, which is very dangerous.
3634 )))
3635
3636 Error code
3637
3638 |=**Error code**|=**Content**
3639 |7000OA|Axis is in a bound status.
3640 |7000OB|Axis cannot be bound at run time.
3641 |800014|The master axis is consistent with the slave axis.
3642 |800015|The master axis is consistent with the auxiliary axis.
3643 |800016|The auxiliary axis is consistent with the slave axis.
3644 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3645
3646 (% style="text-align:center" %)
3647 [[image:1709014704454-580.png||_mstalt="294047"]]
3648
3649
3650 === **MC_MOVEVELOCITY** ===
3651
3652 ----
3653
3654 MC_MOVEVELOCITY
3655
3656 (% style="text-align:center" %)
3657 [[image:1709014790717-456.png||_mstalt="296101"]]
3658
3659 Device used (Only a single device can be used, and device splicing and index are not supported)
3660
3661 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3662 | | |**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**
3663 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3664 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3665 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3666 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3667 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3668 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3669 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3670 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3671 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3672 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3673 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3674 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3675 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3676 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3677 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3678
3679 Precautions for use of devices
3680
3681 ▪LC and HSC are signed 32-bit data types;
3682
3683 ▪T, C, D, R and SD are signed 16-bit data types;
3684
3685 Variable type used
3686
3687 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3688 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3689 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3690 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3691 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3692 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3693 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3694 |Direction|WORD|No|[1]|(((
3695 Direction flag
3696
3697 1: Positive direction
3698
3699 2: Negative direction
3700
3701 3: Current direction
3702
3703 4: Shortest path
3704 )))
3705 |BufferMode|WORD|Yes|[0]|Buffer mode
3706 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3707 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3708 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3709 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3710 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3711 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3712 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3713
3714 Features
3715
3716 ▪MC_MOVEVELOCITY function block is used for continuing the motion of the previous function block and moving according to the velocity specified by the previous 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.
3717
3718 ▪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 the operation of this function block;
3719
3720 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3721
3722 ▪Once the input Execute signal detects that the falling edge or other function block makes this function block abort, the output parameter Invelocity is reset.
3723
3724 ▪MC_MOVEVELOCITY function block should be used when the controlled axis is in a stop status or a single-axis running status. When the function block is triggered, the controlled axis is switched to continuous Motion status.
3725
3726 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3727
3728 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3729
3730 Error code
3731
3732 |=**Error code**|=**Content**
3733 |4084H|Input data beyond the specifiable range
3734
3735 == **SDO instruction** ==
3736
3737 ----
3738
3739 === **MC_READSDO reads SDO data** ===
3740
3741 ----
3742
3743 MC_READSDO
3744
3745 This instruction is used to read the value of the servo object dictionary.
3746
3747 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
3748
3749 Content, range and data type
3750
3751 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
3752 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
3753 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
3754 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
3755 |(D1)|The read device|-|Define the size according to S3.|-
3756 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
3757
3758 Device used
3759
3760 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3761 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|(% colspan="2" %)**R**|**SD**|**LC**|**HSC**|**K**|**H**|(% colspan="2" %)**E**|**[D]**|**XXP**
3762 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
3763 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
3764 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
3765 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
3766 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
3767
3768 Features
3769
3770 ▪Read the value according to the servo station number (S4), object dictionary index (S1), object dictionary subindex (S2), and length (S3) to the set device (D1).
3771
3772 (% class="box infomessage" %)
3773 (((
3774 ✎Note:
3775
3776 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
3777 )))
3778
3779
3780 === **MC_WRITESD0 writes SDO data** ===
3781
3782 ----
3783
3784 MC_WRITESDO
3785
3786 This instruction is used to write the value of the servo object dictionary.
3787
3788 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
3789
3790 Content, range and data type
3791
3792 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
3793 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
3794 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
3795 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
3796 |(S4)|The value to be written|-|Define the size according to S3.|-
3797 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
3798
3799 Device used
3800
3801 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3802 | | |**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**
3803 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
3804 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
3805 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
3806 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
3807 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
3808
3809 Features
3810
3811 ▪The value of the device (S4) is written to the positions of the servo station number (S5), the object dictionary index (S1), the object dictionary sub-index (S2), and the length (S3).
3812
3813 (% class="box infomessage" %)
3814 (((
3815 ✎Note:
3816
3817 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
3818 )))
3819
3820 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
3821
3822 == **Built-in variables of pulse axis system** ==
3823
3824 The current state of the axis can be monitored in the program by its system variables.
3825
3826
3827 |**Name**|**Data type**|**Function**
3828 |Cfg|AXIS_INFO_CFG_T|Axis configuration
3829 |wAxisID|WORD|Axis number (Read only)
3830 |wVersion|WORD|Version number (Read only)
3831 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
3832 |nEtherCATNo|DINT|EtherCAT axis number
3833 |nLocalID|DINT|(((
3834 Local axis ID.
3835
3836 Y0/Y1 is 0;
3837
3838 Y2/Y3 is 1;
3839
3840 Y4/Y5 is 2;
3841
3842 Y6/Y7 is 3.
3843 )))
3844 |bVirtualAxis|BOOL|Virtual axis or not
3845 |Cmd|AXIS_INFO_CMD_T| Setting value
3846 |fSetPosition|LREAL|Setting position (Read only)
3847 |fSetVelocity|LREAL|Setting speed (Read only)
3848 |fSetAcceleration|LREAL|Setting acceleration (Read only)
3849 |fSetDeceleration|LREAL|Actual deceleration (Read only)
3850 |fSetJerk|LREAL|Setting jerk (Read only)
3851 |fSetTorque|LREAL|Setting torque (Read only) Reserved
3852 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
3853 |Act|AXIS_INFO_ACT_T|Current value
3854 |fActPosition|LREAL|Current position (Read only)
3855 |fActVelocity|LREAL|Current speed (Read only)
3856 |fActAcceleration|LREAL|Actual acceleration (Read only)
3857 |fActDeceleration|LREAL|Actual deceleration (Read only)
3858 |fActJerk|LREAL|Actual jerk (Read only)
3859 |fActTorque|LREAL|(((
3860 Current torque (Read only)
3861
3862 Reserved
3863 )))
3864 |fFollowPos|LREAL|Following error (Read only)
3865 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
3866 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
3867 |Status|AXIS_INFO_STATUS_T|Axis status
3868 |wAxisState|WORD|Axis status (Read only)
3869
3870 |**Name**|**Data type**|**Function**
3871 |wAxisError|DWORD|Axis error code (Read only)
3872 |wMotionState|WORD|Motion status (Read only)
3873 |bPowerState|BOOL|Axis enabled status (Read only)
3874 |bphLimit|BOOL|Hardware positive limit (Read only)
3875 |bnhLimit|BOOL|Hardware reverse limit (Read only)
3876 |bHomeState|BOOL|Homing limit (Read only)
3877 |bPsLimit|BOOL|Software positive limit (Read only)
3878 |bnsLimit|BOOL|Software reverse limit (Read only)
3879 |bTarDir|BOOL|Direction of motion (Read only)
3880 |Dbg|AXIS_DEBUG_T|Axis debugging information
3881 |bAxisDebug|BOOL|Axis debugging switch
3882 |bPower|BOOL|Axis enable
3883 |bStop|BOOL|Axis stop
3884 |bReset|BOOL|Axis reset
3885 |bJogP|BOOL|JOG+
3886 |bJopN|BOOL|JOG-
3887 |bHome|BOOL|Homing
3888 |bSetPos|BOOL|Set the current position
3889 |bAbsPos|BOOL|Absolute positioning
3890 |bRevPos|BOOL|Reciprocating motion:
3891 |bRelPos|BOOL|Relative positioning
3892 |bVelocity|BOOL|Continuous motion
3893 |bTorque|BOOL|(((
3894 Torque Mode
3895
3896 Reserved
3897 )))
3898 |fPresetPosition|LREAL|Preset position
3899 |fJogVelocity|LREAL|JOG speed
3900 |fPositionOffser|LREAL|Homing mode offset
3901 |fTarPosition|LREAL|Target position
3902 |fTarVelocity|LREAL|Target velocity
3903 |fTarAcceleration|LREAL|Target acceleration
3904 |fTarDeceleration|LREAL|Target deceleration
3905 |fTarJerk|LREAL|Target jerk
3906 |fTarPosition2|LREAL|Target position 2
3907
3908 |**Name**|**Data type**|**Function**
3909 |fTarVelocity2|LREAL|Target speed 2
3910 |fTarAcceleration2|LREAL|Target jerk 2
3911 |fTarDeceleration2|LREAL|Target deceleration 2
3912 |fTarJerk2|LREAL|Target jerk 2
3913 |fTarTorque|LREAL|(((
3914 Target torque
3915
3916 Reserved
3917 )))
3918 |fTarTorqueSlop|LREAL|(((
3919 Torque ramp
3920
3921 Reserved
3922 )))
3923 |fLimitVelocity|LREAL|(((
3924 Limit the speed.
3925
3926 Reserved
3927 )))
3928 |Pdo|AXIS_INFO_PDO_T|PDO information
3929 |wControlWord|WORD|Control word
3930 |wStatusWord|WORD|Status word
3931 |nSetPosition|DINT|Setting position
3932 |nActPosition|DINT|Current position
3933 |nSetVelocity|DINT|Setting speed
3934 |nActVelocity|DINT|Current speed
3935 |nSetTorque|DINT|(((
3936 Setting torque (Read only)
3937
3938 Reserved
3939 )))
3940 |nActTorque|DINT|(((
3941 Current torque
3942
3943 Reserved
3944 )))
3945 |nDO|DINT|(((
3946 Digital output
3947
3948 Reserved
3949 )))
3950 |nDI|DINT|(((
3951 Digital input
3952
3953 Reserved
3954 )))
3955 |wModesOfPperation|WORD|Control mode
3956 |wModesOfPperationDisplay|WORD|Current control mode
3957 |wTouchFunction|WORD|Touch probe function settings
3958 |wTouchStaus|WORD|Probe touch status
3959 |nTouch1PPos|DINT|Rising edge position of touch probe 1
3960 |nTouch1NPos|DINT|Falling edge position of touch probe 1
3961 |nTouch2PPos|DINT|Rising edge position of touch probe 2
3962 |nTouch2NPos|DINT|Falling edge position of touch probe 2
3963 |nMaxVelocity|DINT|(((
3964 Maximum velocity
3965
3966 Reserved
3967 )))
3968 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
3969 |nEncoderMode|BYTE|Encoder model.
3970
3971 |**Name**|**Data type**|**Function**
3972 | | |(((
3973 0: Incremental mode
3974
3975 1: Absolute mode.
3976 )))
3977 |nModeSet|BYTE|(((
3978 Mode settings.
3979
3980 0: Linear mode
3981
3982 1: Rotation mode.
3983 )))
3984 |dRotatePeriod|LREAL|Rotation cycle
3985 |nSpeedADType|BYTE|(((
3986 Speed acceleration and deceleration type.
3987
3988 0: Default mode;
3989
3990 1: T-curve;
3991
3992 2: S-curve.
3993 )))
3994 |bEnSwLimit|BOOL|Whether to enable software limit
3995 |dSwPLimit|LREAL|Positive limit unit
3996 |dSwNLimit|LREAL|Reverse limit unit
3997 |dFollowThreShold|LREAL|Following error threshold Unit
3998 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
3999 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4000 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4001 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4002 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4003 |bNoInErrorStop|BOOL|(((
4004 Don’t enter ErrorStop after hitting the limit
4005
4006 status.
4007
4008 Reserved
4009 )))
4010 |bHdPLimit|BOOL|(((
4011 Hardware positive limit
4012
4013 0: Positive logic;
4014
4015 1: Negative logic;
4016
4017 Reserved: Not in use yet.
4018 )))
4019 |bHdNLimit|BOOL|(((
4020 Hardware reverse limit (Read-only)
4021
4022 0: Positive logic;
4023
4024 1: Negative logic;
4025
4026 Reserved: Not in use yet.
4027 )))
4028 |bEnProbe1|BOOL|(((
4029 Touch probe 1 enable
4030
4031 Reserved
4032 )))
4033 |bEnProbe2|BOOL|(((
4034 Touch probe 2 enable
4035
4036 Reserved
4037 )))
4038 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4039 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4040 |nOutputWay|DWORD|(((
4041 Output mode
4042
4043 0: Pulse+Direction; 1: CW/CCW.
4044 )))
4045 |nCounterMode|DWORD|(((
4046 Counting mode
4047
4048 0: A/B phase 1 times frequency;
4049 )))
4050
4051 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4052 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4053 1: A/B phase 2 times frequency;
4054
4055 2: A/B phase 4 times frequency;
4056
4057 3: CW/CCW;
4058
4059 4: Pulse+Direction;
4060
4061 5: Single phase count.
4062 )))
4063 |(% style="width:187px" %)(((
4064
4065
4066
4067 nSignalSource
4068 )))|(% style="width:215px" %)(((
4069
4070
4071
4072 DWORD
4073 )))|(% style="width:361px" %)(((
4074 Signal source
4075
4076 0: X0-Phase A;
4077
4078 1: X1-Phase B;
4079
4080 2: X2-Phase A;
4081
4082 3: X3-Phase B.
4083 )))
4084 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4085 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4086 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4087 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4088 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4089 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4090 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4091 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4092 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4093 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4094 Homing signal
4095
4096 0: Not assigned;
4097
4098 1: Not used;
4099
4100 2: In use.
4101 )))
4102 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4103 Z signal.
4104
4105 0: Not assigned;
4106
4107 1: Not used;
4108
4109 2: In use.
4110 )))
4111 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4112 Positive limit
4113
4114 0: Not assigned;
4115
4116 1: Not used;
4117
4118 2: In use.
4119 )))
4120 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4121 Negative limit
4122
4123 0: Not assigned;
4124
4125 1: Not used;
4126
4127 2: In use.
4128 )))
4129 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4130 Homing direction:
4131
4132 0: Not assigned;
4133
4134 1: Forward;
4135
4136 2: Reverse
4137 )))
4138 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4139 Enter the detection direction.
4140
4141 0: Not assigned;
4142 )))
4143
4144 |**Name**|**Data type**|**Function**
4145 | | |(((
4146 0: Positive
4147
4148 2: Reverse
4149 )))
4150 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4151 |(((
4152
4153
4154 nReturnZero
4155 )))|(((
4156
4157
4158 BYTE
4159 )))|(((
4160 Homing mode
4161
4162 0: Absolute homing 1: Relative homing.
4163 )))
4164 |dReturnSpeed|LREAL|Homing speed Unit/s
4165 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4166 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4167 |nReturnTimeOut|DINT|Homing overtime time ms
4168 |bEnPLimit|BOOL|Positive limit enables
4169 |bEnNLimit|BOOL|Negative limit enable
4170 |bEnSignalLimit|BOOL|Homing signal enable
4171 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4172 Positive limit address X0~~X1023.
4173
4174 (The local pulse axis currently only supports hardware limit X0-X7)
4175 )))
4176 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4177 Reverse limit address X0~~X1023.
4178
4179 (The local pulse axis currently only supports hardware limit X0-X7)
4180 )))
4181 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4182 Homing signal address X0 to X1023
4183
4184 (The local pulse axis currently only supports hardware limit X0-X7)
4185 )))
4186 |nPLimitLogic|BOOL|(((
4187 Forward limit logic
4188
4189 0: Forward logic;
4190
4191 1: Reverse logic.
4192 )))
4193 |nNLimitLogic|BOOL|(((
4194 Negative limit logic.
4195
4196 0: Positive logic;
4197
4198 1: Negative logic.
4199 )))
4200 |nSignalLogic|BOOL|(((
4201 Homing signal logic
4202
4203 0: Positive logic;
4204
4205 1: Negative logic.
4206 )))
4207 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4208 |bReverse|BOOL|Reverse or not
4209 |bEnGearBox|BOOL|Enable gearbox
4210 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4211 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4212 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4213 |nGearRatioM|INT|Gear ratio molecule
4214 |nGearRatioD|INT|Gear ratio denominator
4215
4216 == **Others** ==
4217
4218 ----
4219
4220 === **Single axis motion control status diagram** ===
4221
4222 ----
4223
4224 (% style="text-align:center" %)
4225 [[image:1709016272018-406.png||height="669" width="631"]]
4226
4227 === **Axis group motion control status diagram** ===
4228
4229 ----
4230
4231 (% style="text-align:center" %)
4232 [[image:1709016323709-202.png]]
4233
4234
4235 === **Arc mode description** ===
4236
4237 ----
4238
4239 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4240 |(((
4241
4242
4243
4244 Features
4245 )))|(((
4246 The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4247
4248
4249 )))|(((
4250
4251
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.
4253
4254
4255
4256 )))|(((
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.
4258
4259 The direction of the vector determines the direction of CW and CCW circles.
4260
4261 The major arc and minor arc are determined by path choice.
4262 )))
4263 |(((
4264
4265
4266
4267 Description
4268 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4269 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4270 |(((
4271
4272
4273 Path choice
4274 )))|Invalid|(((
4275 CW and CCW circles
4276
4277 CCW mode
4278
4279 CW mode
4280 )))|(((
4281 Major and minor arcs
4282
4283 1: Minor arc
4284
4285 0: Major arc
4286 )))
4287 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4288 Restriction of angle less than 2π for single instruction
4289
4290 The vector perpendicular to the circular plane must be calculated.
4291 )))
4292
4293 === **Transition mode description** ===
4294
4295 ----
4296
4297 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4298
4299 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4300 |TransitionParameter|Invalid|Invalid|Specified velocity
4301
4302 === **Mode selection instructions** ===
4303
4304 ----
4305
4306 [[image:1709016491129-791.png]]
4307
4308 (% style="width:659px" %)
4309 |=(% style="width: 656px;" %)**Caution**
4310 |(% style="width:656px" %)(((
4311 It should be noted that if the moving function block is interrupted by another function block, the following error will occur: braking distance is insufficient due to the limitation of deceleration;
4312
4313 Note that in all the sequence diagrams explained below, some of the sequence diagrams for the status word feedback are incorrect. For example, in Figure 8-2, the start signal is not automatically set by the system after triggering, but controlled by the user. Function block triggers execution logic when on the rising edge.
4314
4315 Likewise, the Done signal is not set automatically. When the function block ends, Done will be set until the falling edge of Execute is generated!
4316 )))
4317
4318 (1) mcAborting
4319
4320 It is an agreed pattern without buffering. When the status of the application axis is changed to "ErrorStop", all motion control function blocks with buffer mode will enter mcAborting.
4321
4322 At this time, the function block output "Error" in mcAborting is set. Its subsequent commands are rejected because the output Error is set, so Active is reset.
4323
4324 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4325
4326 Figure8-1
4327
4328 (% style="text-align:center" %)
4329 [[image:1709016579583-740.png]]
4330
4331
4332 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4333
4334 The following Figure 8-2 shows the sequence diagrams of function block instances FB1 and FB2. Figure 8-2(a) shows the sequence diagram of two absolute position motion function blocks under normal working conditions, i.e., the motion controlled by FB2 is carried out after the motion controlled by FB1 is completed.
4335
4336 When on the Start_1=TRUE rising edge, the function block instance FB1 is activated. At the same time, the outputs Busy_1 and Active_1 are set. The motion process of the axis is as follows: the velocity increases to 100u/s according to the acceleration of 100u/s2, and keep the axis move at constant velocity. Then the velocity decreases to 0 with deceleration of 100u/s2, thus moving the axis to 1000u.
4337
4338 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
4339
4340 Axis position is 1000u.
4341
4342 Figure8-2 The sequence diagram of normal working condition and mcAborting
4343
4344 (% style="text-align:center" %)
4345 [[image:1709016808830-880.png]]
4346
4347
4348 When on the Start_2=TRUE rising edge, the second function block instance FB2 is activated. The output Busy_2 and Active 2 are set. According to the acceleration of 50u/s2, the axis velocity increases to the constant velocity of 50u/s. Then the axis velocity decreases to 0 at the deceleration of 50u/s. The axis position is from 1000u to 2000u.
4349
4350 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
4351
4352 Figure 8-2(b) shows the sequence diagrams of two absolute position motion function blocks in mcAborting. On the rising edge of start1 = TRUE, the function block instanceFB1is activated.
4353
4354 At the same time, the output Busy_2 and Active_1 are set. The axis motion velocity increases according to the acceleration of 100u/s2. But in this process, the output start 2 of the function block instance FB2 is set, which abort the motion of the previous function block instance FB1. At this time, the axis dose not reach the required position 1000u and is aborted to stop.
4355
4356 As the function block instance FB2 is activated, Busy_2 and Active_2 are set. According to the requirement of the function block instance FB2, the velocity of the axis decreases to the input value of 50u/s2 according to its deceleration of 50u/s2. Keep it move at the constant velocity of 50u/s so that it will finally reach the position 2000u.
4357
4358 It can be seen that the activation of the next function block causes the previous function block to stop its motion, and the aborting command immediately affects the motion of the axis.
4359
4360 This buffer mode is called mcAborting.
4361
4362 (2) mcBuffered
4363
4364 The command of the next function block is stored in the buffer area. The command of the buffer area is executed only after the motion of the previous function block is completed. Therefore, this mode is called mcBuffered.
4365
4366 The BufferMode input for the next function block is set to be buffered mode (mcBuffered). Figure 8-3shows the setting for the connection of two function blocks.
4367
4368 The sequence diagram of mcBuffered is shown in Figure 8-4. In the figure, FB1 is activated when the input start 1=TRUE of the previous function block instance is on the rising edge. When this function block instance FB1 control the axis to move, the start 2 of the next function block instance FB2 is set. Due to the FB2 buffer mode is set to mcBuffered, the activation of FB2 does not abort the control of FB1 to the axis. Although the output Busy_2 of FB2 is set, the function block is not activated, namely, the output Active_2 is still FALSE.
4369
4370 Therefore, FB1 continues to control the motion of the axis until the axis reaches the set position 1000u. Then FB2 is immediately activated to work, and the velocity of the axis is not delayed. Increase the velocity to 50u/s based on the acceleration of 50u/s2 directly and then keep it move at the constant velocity of 50u/s, so that it will finally reach the position of 2000.
4371
4372 Figure8-3 Connections in mcBuffered
4373
4374 (% style="text-align:center" %)
4375 [[image:1709016841335-589.png]]
4376
4377 It can be seen from the figure that the buffer mode of the rear function block is set to mcBuffered, which means that the rear function block cannot interrupt the motion of the previous function block. And once the previous function block completes its task.
4378
4379 and Done_1 is set, the work of the next function block will start immediately.
4380
4381 The mcBuffered indicates that the motion command of the next function block has been stored in the buffer area, which does not affect the control and operation of previous motion control function block over the axis. It can execute subsequent commands after the executed function block outputs Done or Inxxx becomes TRUE.
4382
4383 Figure 8-4
4384
4385 (% style="text-align:center" %)
4386 [[image:1709016882878-958.png]]
4387
4388 mcBlending
4389
4390 There are four options for mcBlending of the previous and next function blocks. The mcBlending represents the blending of the velocity of the previous and next functional blocks. In this case, the previous function block interrupts its motion, and the next function block controls the subsequent motion, but its initial velocity is called blending velocity or mixing velocity.
4391
4392 The mixing velocity can adopt the velocity of two function blocks (whichever is lower or higher) or it can be directly specified that the velocity of the previous function block or the velocity of the next function block is adopted.
4393
4394 Therefore, the mcBlending is divided into four types.
4395
4396 (1) mcBlendingLow.
4397
4398 The blending velocity is the lower of the set velocity of the two function blocks. This mcBlending can be random. If the set velocity of the previous function block is lower than that of the next function block, the blending velocity adopts the velocity of the previous function block.
4399
4400 On the contrary, if the set velocity of the previous function block is higher than that of the next function block, the blending velocity adopts the velocity of the next function block.
4401
4402 When the buffer mode of the next function block is set to be mcBlendingLow, it means that the next function block will not interrupt the work of previous function block if the work of the previous function block is not completed; when the velocity of the previous function block decreases to the lower velocity of the previous and next function blocks, the next function block can continue to control the motion of the axis.
4403
4404 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
4405
4406 Figure 8-5 The connection of mcBlendingLow
4407
4408 (% style="text-align:center" %)
4409 [[image:1709016915405-788.png]]
4410
4411
4412 Figure 8-6 shows the sequence diagram of mcBlendingLow. To illustrate maBlendingLow, two subsequent function block instance FB2 and FB3 are used in the figure. In the figure, FB1 is activated when start_1 is set on the rising edge and then its BusY_1 is set. When FB1 controls the axis to move, start=2 of the FB2 instance is also set on the rising edge. FB1 does not complete the axis motion, so the Buffer-Mode of FB2 is set to mcBlendingLow.
4413
4414 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
4415
4416 It means that in the subsequent motion of FB1, the velocity of the axis is reduced to 50u/s according to the deceleration of FB2. When the axis velocity drops to the mixed low velocity, the FB1 control axis moves to the set position of 1000u, and the output Done_1 of FB1 is set, which indicates the end of its controlled motion.
4417
4418 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
4419
4420 At this time, if the Start_3 of the function block instance FB3 is set, since FB2 has not reached its position of 2000u, and the Buffer-Mode of FB3 is set to be mcBlendingLow, when the Start_3 of FB3 is set, the moving axis will control the axis according to the set velocity of FB2 and FB3 (whichever is lower) until the position of the axis reaches the set position of 2000u, then the output Active_2 is reset when FB2 is activated.
4421
4422 At this time, if the Start_3 of the function block instance FB3 is set, since FB2 has not reached its position of 2000u, and the Buffer-Mode of FB3 is set to be mcBlendingLow, when the Start_3 of FB3 is set, the moving axis will control the axis according to the set velocity of FB2 and FB3 (whichever is lower) until the position of the axis reaches the set position of 2000u, then the output Active_2 is reset when FB2 is activated. Then under the control of the FB3 function block instance, increase the velocity of the axis to 100u/s; then keep the axis move at constant velocity, and finally reduce the velocity to 0u/s; at this time the axis reaches the set position of 3000u.
4423
4424 Figure 8-6 The sequence diagram of mcBlendingLow
4425
4426 (% style="text-align:center" %)
4427 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
4428
4429 mcBlending means that due to the difference in the set velocity of the previous and next function blocks, when the Execute rising edge input of the next function block is set, the system will determine what velocity should be adopted to control the axis according to the BufferMode parameter set by the next function block.
4430
4431 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
4432
4433 The previous function block will complete the subsequent motion under the control of blending velocity until it reaches the set position, and the subsequent function block will continue to control the axis. mcBlendingPrevious: the blending velocity adopts the velocity set by the previous function block.
4434
4435 mcBlendingPrevious
4436
4437 As shown in Figure 8-5, if the BufferMode parameter of FB2 and FB3 is set to be mcBlendingPrevious, the blending velocity directly adopts the velocity of the previous function block.
4438
4439 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
4440
4441 When analyzing the sequence diagram, pay attention to the change of blending velocity. As shown in Figure 8-7, in the timing diagram of the mcBlendingPrevious, when FB1 is in buffer mode, the axis moves according to the velocity of the previous function block FB1, i.e., 100u/s, until it reaches the set position of 1000u.
4442
4443 When FB2 is in buffer mode, the axis moves according to the velocity of the previous function block FB2, i.e., 50u/s, until it reaches the set position of 2000u.
4444
4445 Therefore, the axis velocity is100u/s when FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
4446
4447 Figure 8-7 Sequence diagram of mcBlendingPrevious
4448
4449 (% style="text-align:center" %)
4450 [[image:1709017101626-838.png]]
4451
4452 mcBlendingNext
4453
4454 As shown in Figure 8-5, if the BufferMode parameter of FB2 and FB3 is set to be mcBlendingNext, the blending velocity directly adopts the velocity of the next function block.
4455
4456 Figure 8-8 shows the timing diagram of the mcBlendingNext.
4457
4458 As shown in Figure 8-8, in the timing diagram of the mcBlendingNext, when FB1 is in buffer mode, the axis moves according to the velocity of the next function block FB2, i.e., 50u/s,
4459
4460 until it reaches the set position of 1000u. When FB2 is in buffer mode, the axis moves at 100U/S according to the velocity of the next function block FB3, until it reaches the set position of 2000U. Therefore, the axis velocity is 50u/s when the FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
4461
4462 As shown in Figure 8-6 of the sequence diagram of the mcBlendingLow, when FB1 is in buffer mode, the axis buffers at the low blending velocity and moves at 50U/S according to the velocity of FB2, until it reaches the set position of 1000U.
4463
4464 When FB2 is in buffer mode, the axis buffers at the low blending velocity and moves at 50U/S according to the velocity of the FB2, until it reaches the set position of 2000U.
4465
4466 Therefore, the axis velocity is 50u/s when the FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
4467
4468 == **Error Code Cross-reference Table** ==
4469
4470 ----
4471
4472 |=**Error Code**|=**Error Definition**|=**Interpretation**
4473 |(% colspan="3" %)**Normal**
4474 |0x00|MC_ERROR_ID_SUCCESS|No error
4475 |(% colspan="3" %)**Run-time error**
4476 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
4477 Not feasible to compute
4478
4479 S-curve
4480 )))
4481 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
4482 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
4483 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
4484 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
4485 |(% colspan="3" %)**PLCOpen State-machine error**
4486 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
4487 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
4488 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
4489 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
4490 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
4491 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
4492 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
4493 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
4494 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
4495 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
4496 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
4497 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
4498 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
4499 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
4500 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
4501 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
4502 |(% colspan="3" %)**Error due to user/system limitations**
4503 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
4504 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
4505 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
4506 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
4507 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
4508 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
4509 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
4510 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
4511 |(% colspan="3" %)**Error Stop**
4512 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
4513 |(% colspan="3" %)**Error from servo**
4514 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
4515 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
4516 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
4517 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
4518 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
4519 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
4520 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
4521 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
4522 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
4523 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
4524 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
4525 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
4526 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
4527 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
4528 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
4529 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
4530 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
4531 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
4532 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
4533 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
4534 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
4535 |(% colspan="3" %)**Axis’s error**
4536 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
4537 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
4538 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
4539 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
4540 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
4541 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
4542 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
4543 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
4544 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
4545 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
4546 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
4547 |0x0070000B|(((
4548 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
4549
4550 N
4551 )))|(((
4552 Axis can't combine while
4553
4554 running
4555 )))
4556 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
4557 |(% colspan="3" %)**General FB error**
4558 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
4559 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
4560 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
4561 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
4562 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
4563 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
4564 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
4565 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
4566 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
4567 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
4568 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
4569 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
4570 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
4571 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
4572 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
4573 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
4574 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
4575 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
4576 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
4577 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
4578 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
4579 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
4580 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
4581 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
4582 |(% colspan="3" %)**General axis group error**
4583 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
4584 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
4585 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
4586 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
4587 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
4588 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
4589 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
4590 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
4591 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
4592 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
4593 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
4594 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
4595 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
4596 |(% colspan="3" %)**Single axis planner error**
4597 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
4598 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
4599 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
4600 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
4601 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
4602 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
4603 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
4604 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
4605 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
4606 |(% colspan="3" %)**Axis group planner error**
4607 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
4608 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
4609 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
4610 |(% colspan="3" %)**ECAM or EGEAR error**
4611 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
4612 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
4613 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
4614 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
4615 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
4616 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
4617 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
4618 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
4619 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
4620 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
4621 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
4622 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
4623 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
4624 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
4625 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
4626 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
4627 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
4628 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
4629 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
4630 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
4631 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
4632 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
4633
4634