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Wiki source code of 08 Motion Control

Version 10.1 by Iris on 2026/03/28 17:35
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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 * In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
818 * In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
819 * In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
820
821 Error code
822
823 |=**Error code**|=**Content**
824 |4084H|Data beyond the specifiable range was entered.
825
826 Sequence diagram
827
828 * When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:
829
830 (% style="text-align:center" %)
831 [[image:1708934225357-168.png||_mstalt="296452"]]
832
833 * When driver fails during the instruction running, sequence diagram is as follows:
834
835 (% style="text-align:center" %)
836 [[image:1708934303224-405.png||_mstalt="292370"]]
837
838 === **MC_HOME** ===
839
840 ----
841
842 MC_HOME
843
844 (% style="text-align:center" %)
845 [[image:1708934397030-253.png||_mstalt="294047"]]
846
847 This function block is used to change the state of the controlled axis to the origin state.
848
849 Device used (only a single device can be used, and device splicing and offset are not supported)
850
851 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
852 | | |**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**
853 |(% colspan="1" rowspan="10" %)MC_HMOE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
854 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
855 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
856 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
857 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
858 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
859 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
860 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
861 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
862 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
863
864 Precautions for use of devices
865
866 * LC and HSC are signed 32-bit data types;
867 * T, C, D, R and SD are signed 16-bit data types.
868
869 Variable Type Used
870
871 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
872 |(% colspan="1" rowspan="10" %)MC_HOME|Execute|BOOL|No|TRUE/FALSE|Enable
873 |Position|LREAL|No|0 to 9999999.00|Position
874 |BufferMode|WORD|No|0 to 5|Mode selection
875 |Axis|WORD|No|0 to 65535|Axis number
876 |Done|BOOL|No|TRUE/FALSE|Completion sign
877 |Busy|BOOL|No|TRUE/FALSE|Busy sign
878 |Active|BOOL|Yes|TRUE/FALSE|Valid flag bit
879 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
880 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
881 |ErrorID|DWORD|No|-|Error code
882
883 Function
884
885 * 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.
886
887 Precautions
888
889 * This function block is not available when the axis does not exist.
890
891 Error code
892
893 |=**Error code**|=**Content**
894 |4084H|Data beyond the specifiable range was entered.
895
896 Sequence diagram
897
898 Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:
899
900
901 (% style="text-align:center" %)
902 [[image:1708934632681-933.png||_mstalt="296465"]]
903
904 === **MC_HALT** ===
905
906 ----
907
908 MC_HALT
909
910 (% style="text-align:center" %)
911 [[image:1708934697518-386.png||_mstalt="299234"]]
912
913 This function block is often used to stop the motion of the controlled axis under normal operating conditions.
914
915 Device used (only a single device can be used, and device splicing and offset are not supported)
916
917 (% style="width:1455px" %)
918 |=**Instruction**|=**Parameter**|=(% colspan="24" style="width: 935px;" %)**Devices**|=(% colspan="2" style="width: 91px;" %)(((
919 **Index modification**
920 )))|=**Pulse expansion**
921 | | |**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**
922 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
923 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
924 |Jerk| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
925 |Axis| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
926 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
927 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
928 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
929 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
930 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
931 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
932
933 Precautions for use of devices
934
935 * LC and HSC are signed 32-bit data types;
936 * T, C, D, R and SD are signed 16-bit data types;
937
938 Variable Type Used
939
940 |**Instruction**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
941 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|BOOL|No|TRUE/FALSE|Enable
942 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
943 |Jerk|LREAL|No|0 to 9999999.00|Jerk
944 |Axis|WORD|No|0 to 65535|Axis number
945 |Done|BOOL|No|TRUE/FALSE|Data valid or not
946 |Busy|BOOL|No|TRUE/FALSE|Busy sign
947 |Active|BOOL|No|TRUE/FALSE|Valid sign
948 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
949 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
950 |ErrorID|DWORD|No|-|Error code
951
952 Function
953
954 * 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.
955
956 Precautions
957
958 * This function block is not available when the axis does not exist.
959
960 Error code
961
962 |=**Error code**|=**Content**
963 |4084H|Data beyond the specifiable range was entered.
964
965 **Sequence diagram**
966
967 * After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:(((
968 (% style="text-align:center" %)
969 [[image:1708935236792-154.png||_mstalt="296127"]]
970 )))
971
972 * After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:
973
974 (% style="text-align:center" %)
975 [[image:1708935259573-284.png||_mstalt="297609"]]
976
977 * When executing MC_HALT, showdown failure happens, sequence diagram is as follows:
978
979 (% style="text-align:center" %)
980 [[image:1708935287683-523.png||_mstalt="297037"]]
981
982 === **MC_MOVEABSOLUTE** ===
983
984 ----
985
986 MC_MOVEABSOLUTE
987
988 (% style="text-align:center" %)
989 [[image:1708935525380-170.png||_mstalt="294034"]]
990
991 The function block makes the controlled axis reach the set absolute position with the input parameters.
992
993 Device used (only a single device can be used, and device splicing and offset are not supported)
994
995 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
996 | | |**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**
997 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
998 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
999 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
1000 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1001 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1002 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1003 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1004 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1005 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1006 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1007 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1008 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1009 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1010 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1011 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1012
1013 Precautions for use of devices
1014
1015 * LC and HSC are signed 32-bit data types;
1016 * T, C, D, R and SD are signed 16-bit data types;
1017
1018 Variable Type Used
1019
1020
1021 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1022 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
1023 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1024 |Position|LREAL|No|-9999999.00~~9999999.00|Absolute position
1025 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1026 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1027 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1028 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1029 |BufferMode|WORD|No|0 to 5|Mode selection
1030 |Axis|WORD|No|0 to 65535|Axis number
1031 |Done|BOOL|No|TRUE/FALSE|Completion sign
1032 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1033 |Active|BOOL|No|TRUE/FALSE|Valid sign
1034 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1035 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1036 |ErrorID|DWORD|No|-|Error code
1037
1038 Function
1039
1040 * The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).
1041
1042 Precautions
1043
1044 * This function block is not available when the axis does not exist.
1045
1046 Error code
1047
1048 |=**Error code**|=**Content**
1049 |4084H|Data beyond the specifiable range was entered.
1050
1051 Sequence diagram
1052
1053 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1054
1055 (% style="text-align:center" %)
1056 [[image:1708935703902-764.png||_mstalt="296088"]]
1057
1058 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1059
1060 (% style="text-align:center" %)
1061 [[image:1708935740101-262.png||_mstalt="292266"]]
1062
1063 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1064
1065 (% style="text-align:center" %)
1066 [[image:1708935762521-958.png||_mstalt="297843"]]
1067
1068 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):
1069
1070 (% style="text-align:center" %)
1071 [[image:1708935788803-332.png||_mstalt="296166"]]
1072
1073 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1074
1075 (% style="text-align:center" %)
1076 [[image:1708935816541-212.png||_mstalt="293501"]]
1077
1078 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1079
1080 (% style="text-align:center" %)
1081 [[image:1708935852123-588.png||_mstalt="297206"]]
1082
1083 * mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1084
1085 (% style="text-align:center" %)
1086 [[image:1708935874762-466.png||_mstalt="298584"]]
1087
1088
1089 === **MC_MOVERELATIVE** ===
1090
1091 ----
1092
1093 MC_MOVERELATIVE
1094
1095 (% style="text-align:center" %)
1096 [[image:1708935994795-183.png||_mstalt="299455"]]
1097
1098 The function block makes the controlled axis reach the set absolute position with the input parameters.
1099
1100 Device used (only a single device can be used, and device splicing and offset are not supported)
1101
1102 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1103 | | |**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**
1104 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1105 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1106 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1107 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1108 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1109 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1110 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1111 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1112 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1113 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1114 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1115 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1116 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1117 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1118 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1119
1120 Precautions for use of devices
1121
1122 * LC and HSC are signed 32-bit data types;
1123 * T, C, D, R and SD are signed 16-bit data types.
1124
1125 Variable Type Used
1126
1127
1128 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1129 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1130 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1131 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1132 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1133 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1134 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1135 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1136 |BufferMode|WORD|No|0 to 5|Mode selection
1137 |Axis|WORD|No|0 to 65535|Axis number
1138 |Done|BOOL|No|TRUE/FALSE|Completion sign
1139 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1140 |Active|BOOL|No|TRUE/FALSE|Valid sign
1141 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1142 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1143 |ErrorID|DWORD|No|-|Error code
1144
1145 Function
1146
1147 * 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.
1148
1149 Precautions
1150
1151 * This function block is not available when the axis does not exist.
1152
1153 Error code
1154
1155 |=**Error code**|=**Content**
1156 |4084H|Data beyond the specifiable range was entered.
1157
1158 Sequence diagram
1159
1160 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1161
1162 (% style="text-align:center" %)
1163 [[image:1708936170353-654.png||_mstalt="295438"]]
1164
1165 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1166
1167 (% style="text-align:center" %)
1168 [[image:1708936200749-506.png||_mstalt="295282"]]
1169
1170 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1171
1172 (% style="text-align:center" %)
1173 [[image:1708936252703-706.png||_mstalt="294801"]]
1174
1175 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)(((
1176 (% style="text-align:center" %)
1177 [[image:1708936284791-539.png||_mstalt="298623"]]
1178 )))
1179
1180 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1181
1182 (% style="text-align:center" %)
1183 [[image:1708936309446-511.png||_mstalt="294723"]]
1184
1185 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1186
1187 (% style="text-align:center" %)
1188 [[image:1708936332278-409.png||_mstalt="296439"]]
1189
1190 * McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1191
1192 (% style="text-align:center" %)
1193 [[image:1708936365320-929.png||_mstalt="296660"]]
1194
1195 === **MC_MOVEADDITIVE** ===
1196
1197 ----
1198
1199 MC_MOVEADDITIVE
1200
1201 (% style="text-align:center" %)
1202 [[image:1708936429637-442.png||_mstalt="296634"]]
1203
1204 This function block is a motion increment function block.
1205
1206 Device used (only a single device can be used, and device splicing and offset are not supported)
1207
1208 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1209 | | |**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**
1210 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1211 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1212 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1213 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1214 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1215 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1216 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1217 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1218 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1219 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1220 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1221 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1222 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1223 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1224 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1225
1226 Precautions for use of devices
1227
1228 * LC and HSC are signed 32-bit data types;
1229 * T, C, D, R and SD are signed 16-bit data types.
1230
1231 Variable Type Used
1232
1233 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1234 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1235 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1236 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1237 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1238 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1239 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1240 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1241 |BufferMode|WORD|No|0 to 5|Mode selection
1242 |Axis|WORD|No|0 to 65535|Axis number
1243 |Done|BOOL|No|TRUE/FALSE|Completion sign
1244 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1245 |Active|BOOL|No|TRUE/FALSE|Valid sign
1246 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1247 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1248 |ErrorID|DWORD|No|-|Error code
1249
1250 Function
1251
1252 * 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.
1253
1254 Precautions
1255
1256 * This function block is not available when the axis does not exist.
1257
1258 Error code
1259
1260 |=**Error code**|=**Content**
1261 |4084H|Data beyond the specifiable range was entered.
1262
1263 Sequence diagram
1264
1265 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:
1266
1267 (% style="text-align:center" %)
1268 [[image:1708936628466-218.png||_mstalt="297193"]]
1269
1270 === **MC_MOVESUPERIMPOSED** ===
1271
1272 ----
1273
1274 MC_MOVESUPERIMPOSED
1275
1276 (% style="text-align:center" %)
1277 [[image:1708936695676-290.png||_mstalt="298506"]]
1278
1279 This function block is a motion superposition function block.
1280
1281 Device used (only a single device can be used, and device splicing and offset are not supported)
1282
1283 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1284 **Index**
1285
1286 **modification**
1287 )))|=(((
1288 **Pulse**
1289
1290 **expansion**
1291 )))
1292 | | |**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**
1293 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1294 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1295 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1296 |VelocityDiff| | | | | | | | | | | | | | | | | | | | | | | | | |
1297 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1298 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1299 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1300 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1301 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1302 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1303 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1304 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1305 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1306 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1307 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1308
1309 Precautions for use of devices
1310
1311 * LC and HSC are signed 32-bit data types;
1312 * T, C, D, R and SD are signed 16-bit data types;
1313
1314 Variable Type Used
1315
1316 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1317 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|BOOL|No|TRUE/FALSE|Enable
1318 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1319 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1320 |VelocityDiff|LREAL|No|0 to 9999999.00|Velocity
1321 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1322 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1323 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1324 |BufferMode|WORD|No|0 to 5|Mode selection
1325 |Axis|WORD|No|0 to 65535|Axis number
1326 |Done|BOOL|No|TRUE/FALSE|Completion sign
1327 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1328 |Active|BOOL|No|TRUE/FALSE|Valid sign
1329 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1330 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1331 |ErrorID|DWORD|No|-|Error code
1332
1333 Function
1334
1335 * 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).
1336
1337 Precautions
1338
1339 * This function block is not available when the axis does not exist;
1340 * When it executes, the previous function block should be executed first.
1341
1342 Error code
1343
1344 |=**Error code**|=**Content**
1345 |4084H|Data beyond the specifiable range was entered.
1346
1347 Sequence diagram
1348
1349 (% style="text-align:center" %)
1350 [[image:1708936849134-999.png||_mstalt="300794"]]
1351
1352
1353 == **Management Function Blocks for Multi-axis Motion Control** ==
1354
1355 ----
1356
1357 === **MC_CAMTABLESELECT** ===
1358
1359 ----
1360
1361 MC_CAMTABLESELECT
1362
1363 (% style="text-align:center" %)
1364 [[image:1708937013155-415.png||_mstalt="293540"]]
1365
1366 This function block is used to bind the cam table.
1367
1368 Device used (only a single device can be used, and device splicing and offset are not supported)
1369
1370
1371 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1372 **Index**
1373
1374 **modification**
1375 )))|=(((
1376 **Pulse**
1377
1378 **expansion**
1379 )))
1380 | | |**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**
1381 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1382 |Periodic|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1383 |MasterAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1384 |SlaveAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1385 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1386 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1387 |CamTable| | | | | | | | | | | | | | | | |●| | | | | | | | |
1388 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1389 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1390 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1391 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1392 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1393
1394 Precautions for use of devices
1395
1396 * LC and HSC are signed 32-bit data types;
1397 * T, C, D, R and SD are signed 16-bit data types;
1398
1399 Variable Type Used
1400
1401 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1402 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|BOOL|No|TRUE/FALSE|Enable
1403 |Periodic|BOOL|No|TRUE/FALSE|Cyclic mode setting
1404 |MasterAbsolute|BOOL|No|TRUE/FALSE|Master axis position mode setting
1405 |SlaveAbsolute|BOOL|No|TRUE/FALSE|Slave axis position mode setting
1406 |Master|WORD|No|-|Master axis
1407 |Slave|WORD|No|-|Slave axis
1408 |CamTable|Cam table (INT type variable)|No|-|Cam table
1409 |Done|BOOL|No|TRUE/FALSE|Completion sign
1410 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1411 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1412 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1413 |CamTableID|WORD|No|-|Cam table identification number
1414
1415 Function
1416
1417 * 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;
1418 * 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;
1419 * 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.
1420
1421 Precautions
1422
1423 * This function block is not available when the axis does not exist.
1424
1425 Error code
1426
1427 |=**Error code**|=**Content**
1428 |4084H|Data beyond the specifiable range was entered.
1429
1430 Sequence diagram
1431
1432 (% style="text-align:center" %)
1433 [[image:1708937230885-390.png||_mstalt="296439"]]
1434
1435 === **MC_GENERATECAMTABLE** ===
1436
1437 ----
1438
1439 MC_GENERATECAMTABLE
1440
1441 (% style="text-align:center" %)
1442 [[image:1708937316371-993.png||_mstalt="297687"]]
1443
1444 This function block is used to update the cam table.
1445
1446 Device used (Only a single device can be used, and device splicing and offset are not supported)
1447
1448 |=(((
1449
1450
1451 **Instruction**
1452 )))|=(((
1453
1454
1455 **Parameter**
1456 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1457 | | |**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**
1458 |(% colspan="1" rowspan="10" %)(((
1459
1460
1461
1462
1463 MC_GENERATECAMTABLE
1464 )))|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"]]| | | | | | | | | | | | | | | | | | | | |
1465 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1466 |CamNode| | | | | | | | | | | | | | | | | | | | | | | | | |
1467 |NodeNum| | | | | | | | | | | | | | | | |[[image:1708937346415-218.png||_mstalt="295373"]]| | | | | | | | |
1468 |(((
1469 Generatecam
1470
1471 TableMode
1472 )))| | | | | | | | | | | | | | | | |[[image:1708937346415-626.png||_mstalt="296153"]]| | | | | | | | |
1473 |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"]]| | | | | | | | | | | | | | | | | | | | |
1474 |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"]]| | | | | | | | | | | | | | | | | | | | |
1475 |InstructionAborted| |(((
1476 [[image:1708937346425-166.png||_mstalt="296166"]]
1477
1478 [[image:1708937346425-794.png||_mstalt="298064"]]
1479 )))|(((
1480 [[image:1708937346426-497.png||_mstalt="298389"]]
1481
1482 [[image:1708937346427-332.png||_mstalt="295152"]]
1483 )))|(((
1484 [[image:1708937346427-282.png||_mstalt="296309"]]
1485
1486 [[image:1708937346428-957.png||_mstalt="299104"]]
1487 )))|(((
1488 [[image:1708937346429-449.png||_mstalt="298298"]]
1489
1490
1491 )))| | | | | | | | | | | | | | | | | | | | |
1492 |Error| | | | |[[image:1708937346429-635.png||_mstalt="297362"]]| | | | | | | | | | | | | | | | | | | | |
1493 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1494
1495 Precautions for use of devices
1496
1497 * LC and HSC are signed 32-bit data types;
1498 * T, C, D, R and SD are signed 16-bit data types;
1499
1500 Variable type used
1501
1502 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 |(% colspan="1" rowspan="11" %)(((
1504
1505
1506
1507
1508
1509 MC_GENERATECAMTABLE
1510 )))|(% colspan="1" rowspan="5" %)(((
1511
1512
1513
1514 Input
1515 )))|Execute|BOOL|No|TRUE/FALSE|Enable
1516 |CamTableID|INT|No| |Cam tableID
1517 |CamNode|(((
1518 ARRAY
1519
1520 (CAMNODET)
1521 )))|No|-|Array of cam nodes
1522 |NodeNum|INT|No|2 ～361|Number of cam nodes
1523 |(((
1524 GeneratecamTable
1525
1526 Mode
1527 )))|(((
1528
1529
1530 INT
1531 )))|(((
1532
1533
1534 No
1535 )))|(((
1536
1537
1538
1539 )))|(((
1540 Effective mode
1541
1542 0： Effective in the next cam cycle;
1543
1544 Others: Reserved
1545 )))
1546 |(% colspan="1" rowspan="6" %)(((
1547
1548
1549
1550 Output
1551 )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1552 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1553 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1554 |ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1555 |Error|BOOL|Yes| |Whether there is an error or not
1556 |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1557
1558 Function
1559
1560 * 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.
1561
1562 (% class="box infomessage" %)
1563 (((
1564 **✎Note:**
1565
1566 ~1. This function block is not available when the Cam table does not exist.
1567
1568 2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C
1569 )))
1570
1571 Sequence diagram
1572
1573 (% style="text-align:center" %)
1574 [[image:Picture12.png]]
1575
1576
1577 === **MC_SAVECAMTABLE** ===
1578
1579 ----
1580
1581 MC_SAVECAMTABLE
1582
1583 (% style="text-align:center" %)
1584 [[image:1708937631240-106.png||_mstalt="292552"]]
1585
1586 This function block is used to save the cam table.
1587
1588 Device used (Only a single device can be used, and device splicing and offset are not supported)
1589
1590 |=(((
1591
1592
1593 **Instruction**
1594 )))|=(((
1595
1596
1597 **Parameter**
1598 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1599 | | |**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**
1600 |(% colspan="1" rowspan="7" %)(((
1601
1602
1603
1604 MC_SAVECAMTABLE
1605 )))|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"]]| | | | | | | | | | | | | | | | | | | | |
1606 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1607 |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"]]| | | | | | | | | | | | | | | | | | | | |
1608 |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"]]| | | | | | | | | | | | | | | | | | | | |
1609 |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"]]| | | | | | | | | | | | | | | | | | | | |
1610 |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"]]| | | | | | | | | | | | | | | | | | | | |
1611 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1612
1613 Precautions for use of devices
1614
1615 * LC and HSC are signed 32-bit data types;
1616 * T, C, D, R and SD are signed 16-bit data types;
1617
1618 Variable type used
1619
1620 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1621 |(% colspan="1" rowspan="7" %)(((
1622
1623
1624
1625
1626 MC_SAVECAMTABLE
1627 )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1628 |CamTableID|INT|No|-|Cam tableID
1629 |(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1630 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1631 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abort flag
1632 |Error|BOOL|Yes|-|Whether there is an error or not
1633 |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1634
1635 Function
1636
1637 * This function block is used to save the specified cam table.
1638
1639 (% class="box infomessage" %)
1640 (((
1641 (% _mstmutation="1" %)**✎Note:**(%%)This function block is not available when the Cam table does not exist.
1642
1643 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.
1644 )))
1645
1646 Error code
1647
1648 |=**Error code**|=**Content**
1649 |4084H|Data beyond the specifiable range was entered.
1650
1651 Sequence diagram
1652
1653 (% style="text-align:center" %)
1654 [[image:1708937834226-438.png||_mstalt="296829"]]
1655
1656 == **Motion Function Block for Multi-axis Motion Control** ==
1657
1658 ----
1659
1660 === **MC_CAMIN** ===
1661
1662 ----
1663
1664 MC_CAMIN
1665
1666 (% style="text-align:center" %)
1667 [[image:1708937946127-139.png||_mstalt="297128"]]
1668
1669 The function block enables the controlled axis to carry out cam motion.
1670
1671 Device used (only a single device can be used, and device splicing and offset are not supported)
1672
1673 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1674 | | |**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**
1675 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1676 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1677 |MasterIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1678 |SlaveIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1679 |MasterScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1680 |SlaveScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1681 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
1682 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
1683 |StartMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1684 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1685 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1686 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1687 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1688 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1689 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1690 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1691 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1692 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1693 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1694 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1695 |EndOfProfile| | | | | | | | | | | | | | | | | | | | | | | | | |
1696
1697 Precautions for use of devices
1698
1699 * LC and HSC are signed 32-bit data types;
1700 * T, C, D, R and SD are signed 16-bit data types;
1701
1702 Variable Type Used
1703
1704 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1705 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|BOOL|No|TRUE/FALSE|Enable
1706 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1707 |MasterIndex|LREAL|No|-9999999.00~~9999999.00|Master axis offset
1708 |SlaveIndex|LREAL|No|-9999999.00~~9999999.00|Slave axis bias
1709 |MasterScaling|LREAL|No|-9999999.00~~9999999.00|Master axis scaling factor
1710 |SlaveScaling|LREAL|No|-9999999.00~~9999999.00|Slave axis scaling factor
1711 |MasterStartDistance|LREAL|No|-9999999.00~~9999999.00 (not 0)|Master axis starting distance
1712 |MasterSyncPosition|LREAL|No|-9999999.00~~9999999.00|Master axis synchronization position
1713 |StartMode|WORD|No|0 to 2|Start mode (0-Absolute, 1-Relative, 2-Catchup)
1714 |MasterValueSource|WORD|No|0 to 2|(((
1715 Master axis synchronization source
1716
1717 (Instruction value, set value and actual value)
1718 )))
1719 |CamTableID|WORD|No|0 to 9999999.00|Electronic CAM table identification
1720 |BufferMode|WORD|No|0|Mode selection
1721 |Master|WORD|No|-|Master axis
1722 |Slave|WORD|No|-|Slave axis
1723 |InSync|BOOL|No|TRUE/FALSE|Completion sign
1724 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1725 |Active|BOOL|No|TRUE/FALSE|Valid sign
1726 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1727 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1728 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1729 |EndOfProfile|WORD|No|-|Electronic CAM end signal
1730
1731 Function
1732
1733 * 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.
1734 * MasterSyncPosition
1735
1736 MasterSyncPosition is the absolute position when the axis mode is absolute;
1737
1738 MasterSyncPosition is the relative position when the axis mode is relative;
1739
1740 * 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.
1741 * 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.
1742 * 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:
1743
1744 |=**StartMode**|=**SlaveAbsolute**|=**Slave axis mode**
1745 |Absolute|Relative|Relative
1746 |Absolute|Absolute|Absolute
1747 |Relative|Relative|Relative
1748 |Relative|Absolute|Relative
1749 |Catch up|Relative|Relative catch up
1750 |Catch up|Absolute|Relative catch up
1751
1752 |=**Master axis mode**|=**Slave axis mode**|=**Result**
1753 |(% colspan="1" rowspan="4" %)Relative|Relative|(((
1754 When CAMIN is executed, slave axis position jumps to the set offset position;
1755
1756 When master axis is executing, slave axis performs relative motion according to the start position of cam table.
1757 )))
1758 |Absolute|(((
1759 When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0);
1760
1761 When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
1762 )))
1763 |Relative|(((
1764 When CAMIN is executed, slave axis position catches up to the set offset position;
1765
1766 When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
1767 )))
1768 |Absolute catch up|(((
1769 When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0);
1770
1771 When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
1772 )))
1773 |(% colspan="1" rowspan="4" %)Absolute|Relative|(((
1774 When CAMIN is executed, slave axis position jumps to the set offset position;
1775
1776 When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
1777 )))
1778 |Absolute|(((
1779 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;)
1780
1781 After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
1782 )))
1783 |Relative catch up|(((
1784 When CAMIN is executed, slave axis position catches up to the set offset position;
1785
1786 When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
1787 )))
1788 |Absolute catch up|(((
1789 When CAMIN is executed, slave axis position catches up to the current slave axis position corresponding to the master axis in the cam table
1790
1791 (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;)
1792
1793 After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.
1794 )))
1795
1796 * 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.
1797
1798 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);
1799
1800 * 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.
1801 * The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):
1802
1803 Master Position = Master Position * Master Multiplier + Master Offset
1804
1805 Slave position = Slave multiplier * CAM (spindle position) + Slave offset
1806
1807 * The master-slave multiplier cannot be 0.
1808
1809 Precautions
1810
1811 * This function block is not available when the axis does not exist;
1812 * 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.
1813
1814 Error code
1815
1816 |=**Error code**|=**Content**
1817 |4084H|Data beyond the specifiable range was entered.
1818
1819 Sequence diagram
1820
1821 ▪ 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.
1822
1823 (% style="text-align:center" %)
1824 [[image:1708938240121-859.png||_mstalt="295776"]]
1825
1826 (1) Slave motion varies depending on StartMode.
1827
1828 Assume that the start conditions for cam motion are as follows:
1829
1830 ▪ 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.
1831
1832 ▪ 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.
1833
1834 ▪ 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.
1835
1836
1837 |=**Input variable**|=**Condition 1**|=**Condition 2**|=**Condition 3**
1838 |MasterAbsolute|True (Absolute)|True (Absolute)|True (Absolute)
1839 |SlaveAbsolute|True (Absolute)|True (Absolute)|FALSE (Relative)
1840 |StartMode|MC_START_MODE_ABSOLUTE|MC_START_MODE_RAMPIN|MC_START_MODE_RELATIVE
1841 |MasterSyncPosition|70|70|70
1842 |MasterDistace|50|50|50
1843 |MasterOffset|0|0|0
1844 |SlaveOffset|0|0|0
1845 |MasterScaling|1|1|1
1846 |SlaveScaling|1|1|1
1847
1848 (2) Slave motion varies depending on MasterAbsolute.
1849
1850 (% style="text-align:center" %)
1851 [[image:1708938293300-489.png||_mstalt="296868"]]
1852
1853 (% style="text-align:center" %)
1854 [[image:1708938305434-874.png||_mstalt="296933"]]
1855
1856
1857 (% style="text-align:center" %)
1858 [[image:1708938314862-131.png||_mstalt="294060"]]
1859
1860 (3)Slave motion varies depending on SlaveAbsolute.
1861
1862
1863 (% style="text-align:center" %)
1864 [[image:1708938393382-857.png||_mstalt="299052"]]
1865
1866 (% style="text-align:center" %)
1867 [[image:1708938413402-528.png||_mstalt="294645"]]
1868
1869
1870 === **MC_CAMOUT** ===
1871
1872 ----
1873
1874 MC_CAMOUT
1875
1876 (% style="text-align:center" %)
1877 [[image:1708938462508-819.png||_mstalt="297947"]]
1878
1879 The function block enables the controlled axis to carry out uniform motion at current velocity.
1880
1881 Device used (only a single device can be used, and device splicing and offset are not supported)
1882
1883 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=(((
1884 **Pulse**
1885
1886 **expansion**
1887 )))
1888 | | |**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**
1889 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1890 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1891 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1892 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1893 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1894 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1895
1896 Precautions for use of devices
1897
1898 * LC and HSC are signed 32-bit data types;
1899 * T, C, D, R and SD are signed 16-bit data types;
1900
1901 Variable Type Used
1902
1903 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1904 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|BOOL|No|TRUE/FALSE|Enable
1905 |Slave|WORD|No|0 to 65535|Slave axis
1906 |Done|BOOL|No|TRUE/FALSE|Completion sign
1907 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1908 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1909 |ErrorID|DWORD|No|-|Error code
1910
1911 Function
1912
1913 * 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.
1914
1915 Precautions
1916
1917 * This function block is not available when the axis does not exist.
1918
1919 Sequence diagram
1920
1921 (% style="text-align:center" %)
1922 [[image:1708938589953-976.png||_mstalt="301886"]]
1923
1924
1925 === **MC_GEARIN** ===
1926
1927 ----
1928
1929 MC_GEARIN
1930
1931 (% style="text-align:center" %)
1932 [[image:1708938638291-674.png||_mstalt="298363"]]
1933
1934 The function block enables the controlled axis to carry out gear motion.
1935
1936 Device used (only a single device can be used, and device splicing and offset are not supported)
1937
1938 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1939 | | |**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**
1940 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1941 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1942 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
1943 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
1944 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1945 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1946 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1947 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1948 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1949 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1950 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1951 |InGear| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1952 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1953 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1954 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1955 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1956 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1957
1958 Precautions for use of devices
1959
1960 * LC and HSC are signed 32-bit data types;
1961 * T, C, D, R and SD are signed 16-bit data types;
1962
1963 Variable Type Used
1964
1965 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1966 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|BOOL|No|TRUE/FALSE|Enable
1967 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1968 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
1969 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
1970 |MasterValueSource|WORD|No|0 to 2|(((
1971 Master axis synchronization source
1972
1973 (Instruction value, set value and actual value)
1974 )))
1975 |Acceleration|LREAL|No|0 to 9999999.99999|Acceleration
1976 |Deceleration|LREAL|No|0 to 9999999.99999|Deceleration
1977 |Jerk|LREAL|No|0 to 9999999.99999|Jerk
1978 |BufferMode|WORD|No|0 to 5|Selection
1979 |Master|WORD|No|0 to 65536|Master axis
1980 |Slave|WORD|No|0 to 65536|Slave axis
1981 |InGear|BOOL|No|TRUE/FALSE|Completion sign
1982 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1983 |Active|BOOL|No|TRUE/FALSE|Valid sign
1984 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1985 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1986 |ErrorID|DWORD|No|-|Error code
1987
1988 Function
1989
1990 * 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.
1991
1992 Precautions
1993
1994 * This function block is not available when the axis does not exist.
1995
1996 Error code
1997
1998 |=**Error code**|=**Content**
1999 |4084H|Data beyond the specifiable range was entered.
2000
2001 Sequence diagram
2002
2003 * 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;
2004 * Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
2005 * The gear ratio is positive and the slave axis moves in the same direction as the master axis.
2006
2007 (% style="text-align:center" %)
2008 [[image:1708938826565-617.png||_mstalt="298246"]]
2009
2010 * The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.
2011
2012 (% style="text-align:center" %)
2013 [[image:1708938850653-961.png||_mstalt="297531"]]
2014
2015
2016 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.
2017
2018 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.
2019
2020 1. Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)(((
2021 (% style="text-align:center" %)
2022 [[image:1708938900938-930.png||_mstalt="297011"]]
2023 )))
2024 1. Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)(((
2025 (% style="text-align:center" %)
2026 [[image:1708938892131-173.png||_mstalt="295360"]]
2027 )))
2028
2029 === **MC_GEAROUT** ===
2030
2031 ----
2032
2033 MC_GEAROUT
2034
2035 (% style="text-align:center" %)
2036 [[image:1708938960939-798.png||_mstalt="301990"]]
2037
2038 The function block enables the controlled axis to carry out uniform motion at current velocity.
2039
2040 Device used (only a single device can be used, and device splicing and offset are not supported)
2041
2042 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2043 | | |**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**
2044 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2045 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2046 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2047 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2048 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2049 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2050
2051 Precautions for use of devices
2052
2053 * LC and HSC are signed 32-bit data types;
2054 * T, C, D, R and SD are signed 16-bit data types;
2055
2056 Variable Type Used
2057
2058 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2059 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|BOOL|No|TRUE/FALSE|Enable
2060 |Slave|WORD|No|0 to 65535|Axis number
2061 |Done|BOOL|No|TRUE/FALSE|Completion sign
2062 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2063 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2064 |ErrorID|DWORD|No|-|Error code
2065
2066 Function
2067
2068 * 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.
2069
2070 Precautions
2071
2072 * This function block is not available when the axis does not exist.
2073
2074 Sequence diagram
2075
2076 (% style="text-align:center" %)
2077 [[image:1708939163693-763.png||_mstalt="298233"]]
2078
2079 === ** MC_GEARINPOS** ===
2080
2081 ----
2082
2083 MC_GEARINPOS
2084
2085 (% style="text-align:center" %)
2086 [[image:1708939230407-562.png||_mstalt="294801"]]
2087
2088 The function block enables the controlled axis to carry out gear motion.
2089
2090 Device used (only a single device can be used, and device splicing and offset are not supported)
2091
2092
2093 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2094 | | |**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**
2095 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2096 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
2097 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
2098 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
2099 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2100 |SlaveSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2101 |SyncMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2102 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
2103 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2104 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2105 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2106 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2107 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2108 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
2109 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2110 |StartSync| | | | | | | | | | | | | | | | | | | | | | | | | |
2111 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2112 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2113 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2114 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2115 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2116 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2117
2118 Precautions for use of devices
2119
2120 * LC and HSC are signed 32-bit data types;
2121 * C, D, R and SD are signed 16-bit data types.
2122
2123 Variable Type Used
2124
2125 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2126 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|BOOL|No|TRUE/FALSE|Enable
2127 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
2128 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
2129 |MasterValueSource|WORD|No|0 to 2|(((
2130 Master axis synchronization source
2131
2132 (Instruction value, set value and actual value)
2133 )))
2134 |MasterSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Master axis synchronization position
2135 |SlaveSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Slave axis synchronization position
2136 |SyncMode|WORD|No|0 to 2|Synchronous mode (shortest, catchup, slowdown)
2137 |MasterStartDistance|LREAL|No|-9999999.999999 to 9999999.999999 (not 0)|Master axis starting distance
2138 |Velocity|LREAL|No|0 to 9999999.999999 (not 0)|Velocity
2139 |Acceleration|LREAL|No|0 to 9999999.999999 (not 0)|Acceleration
2140 |Deceleration|LREAL|No|0 to 9999999.999999 (not 0)|Deceleration
2141 |Jerk|LREAL|No|0 to 9999999.999999|Jerk
2142 |BufferMode|WORD|No|0 to 5|Buffer mode selection
2143 |Master|WORD|No|0 to 65535|Master axis
2144 |Slave|WORD|No|0 to 65535|Slave axis
2145 |StartSync|BOOL|No|TRUE/FALSE|Synchronous identification
2146 |InSync|BOOL|No|TRUE/FALSE|Synchronized sign
2147 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2148 |Active|BOOL|No|TRUE/FALSE|Valid sign
2149 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
2150 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2151 |ErrorID|DWORD|No|-|Error code
2152
2153 Function
2154
2155 * 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.
2156
2157 Precautions
2158
2159 * This function block is not available when the axis does not exist.
2160
2161 Error code
2162
2163 |=**Error code**|=**Content**
2164 |4084H|Data beyond the specifiable range was entered.
2165
2166 Sequence diagram
2167
2168 * 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;
2169 * 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;
2170 * If the gear ratio is positive, the slave axis moves in the same direction as the master axis.
2171
2172 (% style="text-align:center" %)
2173 [[image:1708939532879-130.png||_mstalt="296231"]]
2174
2175 * If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.
2176
2177 (% style="text-align:center" %)
2178 [[image:1708939562781-830.png||_mstalt="296764"]]
2179
2180 * 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.
2181 * 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.
2182
2183 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).(((
2184 (% style="text-align:center" %)
2185 [[image:1708939646390-943.png||_mstalt="297947"]]
2186 )))
2187 1. (((
2188 Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)
2189
2190 (% style="text-align:center" %)
2191 [[image:1708939657645-807.png||_mstalt="298857"]]
2192 )))
2193
2194 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:
2195
2196 * Shortest: catching in constant acceleration mode;
2197 * Catchuo: catching in S-curve;
2198 * Slowdown: catching up in T-curve.
2199
2200 (% class="box infomessage" %)
2201 (((
2202 **✎** **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.
2203 )))
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215
2216
2217
2218 == **Management functions of axis group motion control** ==
2219
2220 ----
2221
2222 === **MC_ADDAXISTOGROUP** ===
2223
2224 ----
2225
2226 MC_ADDAXISTOGROUP
2227
2228 (% style="text-align:center" %)
2229 [[image:1708999788060-281.png||_mstalt="297531"]]
2230
2231 The function block is to add axis to axis group.
2232
2233 Device used (Only a single device can be used, and device splicing and index are not supported)
2234
2235 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2236 | | |**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**
2237 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2238 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2239 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2240 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2241 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2242 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2243 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2244
2245 Precautions for use of devices
2246
2247 ▪LC and HSC are signed 32-bit data types;
2248
2249 ▪T, C, D, R and SD are signed 16-bit data types;
2250
2251 Variable type used
2252
2253 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2254 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2255 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2256 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2257 |Axis|WORD|No|[0 to 65535]|Axis number
2258 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2259 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2260 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2261 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2262
2263 Features
2264
2265 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2266
2267 ▪IndentInGroup is a flag of the adding axis order to axis group.
2268
2269 (% class="box infomessage" %)
2270 (((
2271 ✎Note:
2272
2273 ▪If the serial number of the axis group does not exist, an error will be reported;
2274
2275 ▪When the axis group is enabled, an error will be reported when add new axis;
2276
2277 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2278 )))
2279
2280 Error code
2281
2282 |=**Error code**|=**Content**
2283 |4084H|Data beyond the specifiable range was input.
2284
2285 (% style="font-size:14px" %)Sequence diagram
2286
2287 (% style="text-align:center" %)
2288 [[image:1709000371923-181.png||_mstalt="292591"]]
2289
2290 === **MC_REMOVEAXISFROMGROUP** ===
2291
2292 ----
2293
2294 MC_REMOVEAXISFROMGROUP
2295
2296 (% style="text-align:center" %)
2297 [[image:1709000436811-846.png||_mstalt="294346"]]
2298
2299 This function block removes axis from an axis group.
2300
2301 Device used (Only a single device can be used, and device splicing and index are not supported)
2302
2303 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2304 | | |**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**
2305 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2306 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2307 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2308 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2309 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2310 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2311 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2312
2313 Precautions for use of devices
2314
2315 ▪LC and HSC are signed 32-bit data types;
2316
2317 ▪T, C, D, R and SD are signed 16-bit data types;
2318
2319 Variable type used
2320
2321 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2322 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2323 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2324 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2325 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2326 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2327 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2328 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2329
2330 Features
2331
2332 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2333
2334 (% class="box infomessage" %)
2335 (((
2336 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2337
2338 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2339
2340 ▪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.
2341 )))
2342
2343 Error code
2344
2345 |=**Error code**|=**Content**
2346 |4084H|Data beyond the specifiable range was input.
2347
2348 Sequence diagram
2349
2350 (% style="text-align:center" %)
2351 [[image:1709000691345-890.png||_mstalt="295061"]]
2352
2353 === **MC_UNGROUPALLAXES** ===
2354
2355 ----
2356
2357 MC_UNGROUPALLAXES
2358
2359 (% style="text-align:center" %)
2360 [[image:1709000738471-185.png||_mstalt="294762"]]
2361
2362 This function block removes all the axes from an axis group.
2363
2364 Device used (Only a single device can be used, and device splicing and index are not supported)
2365
2366 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2367 | | |**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**
2368 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2369 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2370 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2371 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2372 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2373 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2374
2375 Precautions for use of devices
2376
2377 ▪LC and HSC are signed 32-bit data types;
2378
2379 ▪T, C, D, R and SD are signed 16-bit data types;
2380
2381 Variable type used
2382
2383 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2384 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2385 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2386 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2387 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2388 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2389 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2390
2391 Features
2392
2393 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2394
2395 (% class="box infomessage" %)
2396 (((
2397 ✎Note:
2398
2399 ▪If the serial number of the axis group does not exist, an error will be reported;
2400
2401 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2402 )))
2403
2404 Error code
2405
2406 |=**Error code**|=**Content**
2407 |4084H|Input data beyond the specifiable range
2408
2409 (% style="font-size:14px" %)Sequence diagram
2410
2411 (% style="text-align:center" %)
2412 [[image:1709001126146-829.png||_mstalt="294489"]]
2413
2414 === **MC_GROUPENABLE** ===
2415
2416 ----
2417
2418 MC_GROUPENABLE
2419
2420 (% style="text-align:center" %)
2421 [[image:1709001201497-541.png||_mstalt="292682"]]
2422
2423
2424 The function block is axis group enabled.
2425
2426 Device used (Only a single device can be used, and device splicing and index are not supported)
2427
2428 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2429 | | |**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**
2430 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2431 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2432 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2433 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2434 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2435 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2436
2437 Precautions for use of devices
2438
2439 ▪LC and HSC are signed 32-bit data types;
2440
2441 ▪T, C, D, R and SD are signed 16-bit data types.
2442
2443 Variable type used
2444
2445 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2446 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2447 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2448 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2449 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2450 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2451 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2452
2453 Features
2454
2455 ▪Enable axis group to run on the Execute rising edge.
2456
2457 (% class="box infomessage" %)
2458 (((
2459 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2460
2461 ▪When a single axis is running, enabling this block will report an error.
2462 )))
2463
2464 Error code
2465
2466 |=**Error code**|=**Content**
2467 |4084H|Input data beyond the specifiable range
2468
2469 === **MC_GROUPDISABLE** ===
2470
2471 ----
2472
2473 MC_GROUPDISABLE
2474
2475 (% style="text-align:center" %)
2476 [[image:1709001439118-784.png||_mstalt="295594"]]
2477
2478 This function block is axis group disabled.
2479
2480 Device used (Only a single device can be used, an d device splicing and index are not supported)
2481
2482 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2483 | | |**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**
2484 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2485 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2486 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2487 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2488 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2489 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2490
2491 Precautions for use of devices
2492
2493 ▪LC and HSC are signed 32-bit data types;
2494
2495 ▪T, C, D, R and SD are signed 16-bit data types.
2496
2497 Variable type used
2498
2499 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2500 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2501 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2502 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2503 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2504 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2505 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2506
2507 Features
2508
2509 ▪On the Execute rising edge, disable the axis group.
2510
2511 (% class="box infomessage" %)
2512 (((
2513 ✎Note:
2514
2515 ▪Single axis operation can only be executed when the group is disabled.
2516
2517 ▪When a single axis is running, disabling this block will report an error.
2518 )))
2519
2520 Error code
2521
2522 |=**Error code**|=**Content**
2523 |4084H|Input data beyond the specifiable range
2524
2525 === **MC_GROUPREDACTUALPOSITION** ===
2526
2527 ----
2528
2529 MC_GROUPREADACTUALPOSITION
2530
2531 (% style="text-align:center" %)
2532 [[image:1709001728776-330.png||_mstalt="294255"]]
2533
2534 This function block is to read the actual position of each axis from the axis group.
2535
2536 Device used (Only a single device can be used, and device splicing and index are not supported)
2537
2538 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2539 | | |**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**
2540 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2541 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2542 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2543 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2544 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2545 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2546 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2547 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2548
2549 Precautions for use of devices
2550
2551 ▪LC and HSC are signed 32-bit data types;
2552
2553 ▪T, C, D, R and SD are signed 16-bit data types.
2554
2555 Variable type used
2556
2557 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2558 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2559 |CoordSystem|WORD|Yes|0|Coordinate system
2560 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2561 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2562 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2563 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2564 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2565 |Position|LREAL array|Yes| |Position
2566
2567 Features
2568
2569 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2570
2571 Error code
2572
2573 |=**Error code**|=**Content**
2574 |4084H|Input data beyond the specifiable range
2575
2576 === **MC_GROUPREADACTUALVELOCITY** ===
2577
2578 ----
2579
2580 MC_GROUPREADACTUALVELOCITY
2581
2582 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2583 (((
2584 (% data-widget="image" style="text-align: center;" %)
2585 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2586
2587 (% 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"]]
2588 )))
2589
2590 This function block is to read the actual velocity of each axis from the axis group.
2591
2592 Device used (Only a single device can be used, and device splicing and index are not supported)
2593
2594 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2595 | | |**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**
2596 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2597 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2598 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2599 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2600 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2601 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2602 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2603 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2604 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2605
2606 Precautions for use of devices
2607
2608 ▪LC and HSC are signed 32-bit data types;
2609
2610 ▪T, C, D, R and SD are signed 16-bit data types;
2611
2612 Variable type used
2613
2614
2615 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2616 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2617 |CoordSystem|WORD|Yes|0|Coordinate system
2618 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2619 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2620 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2621 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2622 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2623 |Velocity|LREAL array|Yes| |Velocity
2624 |PathVelocity|LREAL|Yes| |Path velocity
2625
2626 Features
2627
2628 * (((
2629 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.
2630 )))
2631
2632 Error code
2633
2634 |=**Error code**|=**Content**
2635 |4084H|Data beyond the specifiable range was input.
2636
2637 === **MC_GROUPREADERROR** ===
2638
2639 ----
2640
2641 MC_GROUPREADERROR
2642
2643 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2644 (((
2645 (% data-widget="image" style="text-align: center;" %)
2646 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2647
2648 (% 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"]]
2649 )))
2650
2651
2652 The function block is axis group to read error.
2653
2654 Device used (Only a single device can be used, and device splicing and index are not supported)
2655
2656 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2657 | | |**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**
2658 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2659 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2660 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2661 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2662 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2663 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2664 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2665
2666 Precautions for use of devices
2667
2668 ▪LC and HSC are signed 32-bit data types;
2669
2670 ▪T, C, D, R and SD are signed 16-bit data types;
2671
2672 Variable type used
2673
2674 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2675 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2676 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2677 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2678 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2679 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2680 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2681 |GroupErrorID|DWROD|Yes| |Axis group error code
2682
2683 Features
2684
2685 ▪When Enable= true, read the axis group error status.
2686
2687 Error code
2688
2689 |=**Error code**|=**Content**
2690 |4084H|Input data beyond the specifiable range
2691
2692 === **MC_GROUPREADSTATUS** ===
2693
2694 ----
2695
2696 MC_GROUPREADSTATUS
2697
2698 (% style="text-align:center" %)
2699 [[image:1709002503132-985.png||_mstalt="293943"]]
2700
2701 This function block reads the status of the currently activated axis group.
2702
2703 Device used (Only a single device can be used, and device splicing and index are not supported)
2704
2705 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2706 | | |**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**
2707 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2708 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2709 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2710 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2711 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2712 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2713 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2714
2715 Precautions for use of devices
2716
2717 ▪LC and HSC are signed 32-bit data types;
2718
2719 ▪T, C, D, R and SD are signed 16-bit data types;
2720
2721 Variable type used
2722
2723 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2724 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2725 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2726 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2727 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2728 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2729 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2730 |GroupErrorID|DWROD|Yes| |Axis group error code
2731
2732 Features
2733
2734 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2735
2736 ▪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.
2737
2738 ▪ InPosition is set to ON when reach the target position.
2739
2740 Error code
2741
2742 |=**Error code**|=**Content**
2743 |4084H|Input data beyond the specifiable range
2744
2745 === **MC_GROUPRESET** ===
2746
2747 ----
2748
2749 MC_GROUPRESET
2750
2751 (% style="text-align:center" %)
2752 [[image:1709002711461-974.png||_mstalt="294619"]]
2753
2754
2755 The function block is axis group reset.
2756
2757 Device used (Only a single device can be used, and device splicing and index are not supported)
2758
2759 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2760 | | |**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**
2761 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2762 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2763 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2764 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2765 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2766 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2767
2768 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2769 Precautions for use of devices
2770
2771 ▪LC and HSC are signed 32-bit data types;
2772
2773 ▪T, C, D, R and SD are signed 16-bit data types.
2774
2775 (% class="wikigeneratedid" id="HVariabletypeused" %)
2776 Variable type used
2777
2778 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2779 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2780 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2781 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2782 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2783 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2784 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2785
2786 Features
2787
2788 ▪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.
2789
2790 Error code
2791
2792 |=**Error code**|=**Content**
2793 |4084H|Input data beyond the specifiable range
2794
2795 === **MC_GROUPREADACTUALACCELERATION** ===
2796
2797 ----
2798
2799 MC_GROUPREADACTUALACCELERATION
2800
2801 (% style="text-align:center" %)
2802 [[image:1709002873108-663.png||_mstalt="294645"]]
2803
2804 This function block is to read the actual acceleration of each axis from the axis group.
2805
2806 Device used (Only a single device can be used, and device splicing and index are not supported)
2807
2808 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2809 | | |**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**
2810 |(% colspan="1" rowspan="9" %)(((
2811 MC_GROUPREADACTUALACCELERATION
2812
2813
2814 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2815 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2816 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2817 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2818 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2819 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2820 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2821 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2822 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2823
2824 Precautions for use of devices
2825
2826 ▪LC and HSC are signed 32-bit data types;
2827
2828 ▪T, C, D, R and SD are signed 16-bit data types;
2829
2830 Variable type used
2831
2832 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2833 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2834 |CoordSystem|WORD|Yes|0|Coordinate system
2835 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2836 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2837 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2838 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2839 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2840 |Acceleration|LREAL array|Yes| |Acceleration
2841 |PathAcceleration|LREAL|Yes| |Path acceleration
2842
2843 Features
2844
2845 ▪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.
2846
2847 Error code
2848
2849 |=**Error code**|=**Content**
2850 |4084H|Data beyond the specifiable range was input.
2851
2852 == **Axis group motion Function Blocks** ==
2853
2854 ----
2855
2856 === **MC_GROUPSTOP** ===
2857
2858 ----
2859
2860 MC_GROUPSTOP
2861
2862 (% style="text-align:center" %)
2863 [[image:1709003200997-104.png||_mstalt="292578"]]
2864
2865
2866 The function block is use to stop axis group.
2867
2868 Device used (Only a single device can be used, and device splicing and index are not supported)
2869
2870 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2871 | | |**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**
2872 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2873 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2874 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2875 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2876 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2877 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2878 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2879 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2880 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2881 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2882
2883 Precautions for use of devices
2884
2885 ▪LC and HSC are signed 32-bit data types;
2886
2887 ▪T, C, D, R and SD are signed 16-bit data types;
2888
2889 Variable type used
2890
2891 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2892 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2893 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2894 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2895 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2896 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2897 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2898 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2899 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2900 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2901 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2902
2903 Features
2904
2905 ▪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.
2906
2907 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2908
2909 ▪Only MC_GroupDisable can be used to interrupt axis group.
2910
2911 Error code
2912
2913 |=**Error code**|=**Content**
2914 |4084H|Input data beyond the specifiable range
2915
2916 === **MC_GROUPHALT** ===
2917
2918 ----
2919
2920 MC_GROUPHALT
2921
2922 (% style="text-align:center" %)
2923 [[image:1709003451573-543.png||_mstalt="293722"]]
2924
2925 The function block is to halt axis group.
2926
2927 Device used (Only a single device can be used, and device splicing and index are not supported)
2928
2929 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2930 | | |**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**
2931 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2932 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2933 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2934 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2935 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2936 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2937 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2938 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2939 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2940 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2941
2942 Precautions for use of devices
2943
2944 ▪LC and HSC are signed 32-bit data types;
2945
2946 ▪T, C, D, R and SD are signed 16-bit data types;
2947
2948 Variable type used
2949
2950 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2951 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2952 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2953 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2954 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2955 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2956 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2957 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2958 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2959 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2960 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2961
2962 Features
2963
2964 ▪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;
2965
2966 ▪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.
2967
2968 Error code
2969
2970 |=**Error code**|=**Content**
2971 |4084H|Data beyond the specifiable range was input.
2972
2973 === **MC_MOVELINEARABSOLUTE** ===
2974
2975 ----
2976
2977 MC_MOVELINEARABSOLUTE
2978
2979 (% style="text-align:center" %)
2980 [[image:1709003761756-581.png||_mstalt="295724"]]
2981
2982 This function block is absolute position linear interpolation.
2983
2984 Device used (Only a single device can be used, and device splicing and index are not supported)
2985
2986 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2987 | | |**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**
2988 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2989 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2990 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2991 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2992 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2993 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2994 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2995 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2996 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2997 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2998 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2999 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3000 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3001 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3002 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3003 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3004 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3005
3006 Precautions for use of devices
3007
3008 ▪LC and HSC are signed 32-bit data types;
3009
3010 ▪T, C, D, R and SD are signed 16-bit data types;
3011 Variable type used
3012
3013 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3014 |(% rowspan="17" %)(((
3015 MC_MOVELINEARABSOLUTE
3016 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3017 |Position|LREAL array|No|-|Position
3018 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3019 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3020 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3021 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3022 |CoordSystem|WORD|Yes|0|Coordinate system
3023 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3024 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3025 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3026 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3027 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3028 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3029 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3030 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3031 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3032 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3033
3034 Features
3035
3036 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3037
3038 (% class="box infomessage" %)
3039 (((
3040 ✎Note:
3041
3042 ▪The axis group can be moved only when being enabled;
3043
3044 ▪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.
3045
3046 ▪Linear motion is allowed to be interrupted;
3047
3048 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3049 )))
3050
3051 Error code
3052
3053 |=**Error code**|=**Content**
3054 |4084H|Input data beyond the specifiable range
3055
3056 (% style="text-align:center" %)
3057 [[image:1709004126151-658.png||_mstalt="294008"]]
3058
3059 === **MC_MOVELINEARRELATIVE** ===
3060
3061 ----
3062
3063 MC_MOVELINEARRELATIVE
3064
3065 (% style="text-align:center" %)
3066 [[image:1709004271451-886.png||_mstalt="295594"]]
3067
3068
3069 This function block is relative position linear interpolation.
3070
3071 Device used (Only a single device can be used, and device splicing and index are not supported)
3072
3073 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3074 | | |**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**
3075 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3078 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3079 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3080 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3081 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3082 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3083 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3084 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3085 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3086 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3087 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3088 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3089 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3090 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3091 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3092
3093 Precautions for use of devices
3094
3095 ▪LC and HSC are signed 32-bit data types;
3096
3097 ▪T, C, D, R and SD are signed 16-bit data types.
3098
3099 Variable type used
3100
3101 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3102 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3103 |Distance|LREAL array|No|-|Position
3104 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3105 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3106 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3107 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3108 |CoordSystem|WORD|Yes|-|Coordinate system
3109 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3110 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3111 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3112 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3113 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3114 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3115 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3116 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3117 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3118 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3119
3120 Features
3121
3122 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3123
3124 (% class="box infomessage" %)
3125 (((
3126 ✎Note:▪The axis group can be moved only when being enabled;
3127
3128 ▪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.
3129
3130 ▪Linear motion is allowed to be interrupted;
3131
3132 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3133 )))
3134
3135 Error code
3136
3137 |=**Error code**|=**Content**
3138 |4084H|Input data beyond the specifiable range
3139
3140 (% style="text-align:center" %)
3141 [[image:1709004561796-657.png||_mstalt="297674"]]
3142
3143 === **MC_MOVECIRCULARABSOLUTE** ===
3144
3145 ----
3146
3147 MC_MOVECIRCULARABSOLUTE
3148
3149 (% style="text-align:center" %)
3150 [[image:1709004628989-926.png||_mstalt="299143"]]
3151
3152 The function block is absolute position circular interpolation.
3153
3154 Device used (Only a single device can be used, and device splicing and index are not supported)
3155
3156 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3157 | | |**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**
3158 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3159 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3160 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3161 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3162 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3163 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3164 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3165 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3166 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3167 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3168 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3169 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3170 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3171 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3172 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3173 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3174 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3175 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3176 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3177 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3178
3179 Precautions for use of devices
3180
3181 ▪LC and HSC are signed 32-bit data types;
3182
3183 ▪T, C, D, R and SD are signed 16-bit data types;
3184 Variable type used
3185
3186 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3187 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3188 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3189 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3190 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3191 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3192 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3193 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3194 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3195 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3196 |CoordSystem|WORD|Yes|0|Coordinate system
3197 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3198 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3199 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3200 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3201 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3202 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3203 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3204 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3205 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3206 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3207
3208 Features
3209
3210 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3211
3212 (% class="box infomessage" %)
3213 (((
3214 ✎Note**:**
3215
3216 ▪The axis group can be moved only when being enabled;
3217
3218 ▪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.
3219
3220 ▪Linear motion is allowed to be interrupted;
3221
3222 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3223 )))
3224
3225 Error code
3226
3227 |=**Error code**|=**Content**
3228 |4084H|Input data beyond the specifiable range
3229
3230 (% style="text-align:center" %)
3231 [[image:1709005028485-788.png||_mstalt="297895"]]
3232
3233 === **MC_MOVECIRCULARRELATIVE** ===
3234
3235 ----
3236
3237 MC_MOVECIRCULARRELATIVE
3238
3239 (% style="text-align:center" %)
3240 [[image:1709005280026-492.png||_mstalt="293397"]]
3241
3242 Device used (Only a single device can be used, and device splicing and index are not supported)
3243
3244 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3245 | | |**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**
3246 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3247 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3248 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3249 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3250 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3251 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3252 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3253 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3254 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3255 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3256 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3257 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3258 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3259 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3260 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3261 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3262 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3263 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3264 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3265 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3266
3267 Precautions for use of devices
3268
3269 ▪LC and HSC are signed 32-bit data types;
3270
3271 ▪T, C, D, R and SD are signed 16-bit data types;
3272
3273 Variable type used
3274
3275 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3276 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3277 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3278 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3279 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3280 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3281 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3282 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3283 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3284 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3285 |CoordSystem|WORD|Yes|-|Coordinate system
3286 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3287 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3288 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3289 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3290 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3291 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3292 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3293 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3294 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3295 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3296
3297 Features
3298
3299 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3300
3301 (% class="box infomessage" %)
3302 (((
3303 ✎Note:
3304
3305 ▪The axis group can be moved only when being enabled;
3306
3307 ▪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.
3308
3309 ▪Linear motion is allowed to be interrupted;
3310
3311 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3312 )))
3313
3314 Error code
3315
3316 |=**Error code**|=**Content**
3317 |4084H|Input data beyond the specifiable range
3318
3319 (% style="text-align:center" %)
3320 [[image:1709005752944-678.png||_mstalt="297869"]]
3321
3322 === **MC_MOVEDIRECTABSOLUTE** ===
3323
3324 ----
3325
3326 MC_MOVEDIRECTABSOLUTE
3327
3328 (% style="text-align:center" %)
3329 [[image:1709012205292-858.png||_mstalt="295360"]]
3330
3331 This function block is the fast positioning of absolute position.
3332
3333 Device used (Only a single device can be used, and device splicing and index are not supported)
3334
3335 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3336 | | |**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**
3337 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3338 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3339 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3340 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3341 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3342 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3343 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3344 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3345 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3346 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3347 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3348 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3349 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3350
3351 Precautions for use of devices
3352
3353 ▪LC and HSC are signed 32-bit data types;
3354
3355 ▪T, C, D, R and SD are signed 16-bit data types;
3356
3357 Variable type used
3358
3359 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3360 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3361 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3362 |CoordSystem|WORD|Yes|0|Coordinate system
3363 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3364 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3365 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3366 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3367 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3368 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3369 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3370 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3371 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3372 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3373
3374 Features
3375
3376 ▪ 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;
3377
3378 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3379
3380 (% class="box infomessage" %)
3381 (((
3382 ✎Note:
3383
3384 ▪The axis group can be moved only when being enabled;
3385
3386 ▪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.
3387
3388 ▪Linear motion is allowed to be interrupted;
3389
3390 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3391
3392 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3393 )))
3394
3395 Error code
3396
3397 |=**Error code**|=**Content**
3398 |4084H|Data beyond the specifiable range was input.
3399
3400 (% style="text-align:center" %)
3401 [[image:1709012383461-841.png||_mstalt="293800"]]
3402
3403 === **MC_MOVEDIRECTRELATIVE** ===
3404
3405 ----
3406
3407 MC_MOVEDIRECTRELATIVE
3408
3409 (% style="text-align:center" %)
3410 [[image:1709012442595-305.png||_mstalt="293592"]]
3411
3412 The function block executes the fast positioning of the relative position.
3413
3414 Device used (Only a single device can be used, and device splicing and index are not supported)
3415
3416 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3417 | | |**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**
3418 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3419 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3420 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3421 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3422 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3423 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3424 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3425 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3426 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3427 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3428 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3429 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3430 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3431
3432 Precautions for use of devices
3433
3434 ▪LC and HSC are signed 32-bit data types;
3435
3436 ▪T, C, D, R and SD are signed 16-bit data types;
3437
3438 Variable type used
3439
3440 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3441 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3442 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3443 |CoordSystem|WORD|Yes|0|Coordinate system
3444 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3445 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3446 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3447 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3448 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3449 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3450 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3451 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3452 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3453 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3454
3455 Features
3456
3457 ▪ 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;
3458
3459 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3460
3461 (% class="box infomessage" %)
3462 (((
3463 ✎Note:
3464
3465 ▪The axis group can be moved only when being enabled;
3466
3467 ▪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.
3468
3469 ▪Linear motion is allowed to be interrupted;
3470
3471 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3472
3473 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3474 )))
3475
3476 Error code
3477
3478 |=**Error code**|=**Content**
3479 |4084H|Input data beyond the specifiable range
3480
3481 (% style="text-align:center" %)
3482 [[image:1709012732094-708.png||_mstalt="294580"]]
3483
3484 == **Other special FB** ==
3485
3486 ----
3487
3488 === **MC_MOVEJOG** ===
3489
3490 ----
3491
3492 MC_MOVEJOG
3493
3494 (% style="text-align:center" %)
3495 [[image:1709014222028-861.png||_mstalt="293059"]]
3496
3497 The function block makes the controlled axis execute micro motion at the set target velocity.
3498
3499 Device used (Only a single device can be used, and device splicing and index are not supported)
3500
3501 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3502 | | |**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**
3503 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3504 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3505 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3506 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3507 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3508 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3509 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3510 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3511 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3512 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3513
3514 Precautions for use of devices
3515
3516 ▪LC and HSC are signed 32-bit data types;
3517
3518 ▪T, C, D, R and SD are signed 16-bit data types;
3519
3520 Variable type used
3521
3522 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3523 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3524 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3525 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3526 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3527 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3528 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3529 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3530 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3531 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3532 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3533
3534 Features
3535
3536 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3537
3538 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3539
3540 ▪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.
3541
3542 (% class="box infomessage" %)
3543 (((
3544 ✎Note:
3545
3546 ▪This function is not available when the axis does not exist.
3547
3548 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3549 )))
3550
3551 Error code
3552
3553 |=**Error code**|=**Content**
3554 |4084H|Input data beyond the specifiable range
3555
3556 (% style="text-align:center" %)
3557 [[image:1709014420505-664.png||_mstalt="293254"]]
3558
3559 === **MC_COMBINEAXES** ===
3560
3561 ----
3562
3563 MC_COMBINEAXES
3564
3565 (% style="text-align:center" %)
3566 [[image:1709014499579-362.png||_mstalt="297700"]]
3567
3568 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3569
3570 Device used (Only a single device can be used, and device splicing and index are not supported)
3571
3572 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3573 | | |**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**
3574 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3575 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3576 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3577 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3578 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3579 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3580 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3581 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3582 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3583 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3584 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3585 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3586 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3587 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3588
3589 Precautions for use of devices
3590
3591 ▪LC and HSC are signed 32-bit data types;
3592
3593 ▪T, C, D, R and SD are signed 16-bit data types;
3594
3595 Variable type used
3596
3597 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3598 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3599 |ConbineMode|WORD|Yes|[0 to 1]|(((
3600 Addition and subtraction operation selection
3601
3602 0: Addition
3603
3604 1: Subtraction
3605 )))
3606 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3607 Master axis position type
3608
3609 1: Feedback position
3610
3611 2: Instruction position
3612 )))
3613 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3614 Auxiliary axis position type
3615
3616 1: Feedback position
3617
3618 2: Instruction position
3619 )))
3620 |BufferMode|LREAL|No|0|Mode selection
3621 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3622 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3623 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3624 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3625 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3626 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3627 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3628 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3629 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3630
3631 Features
3632
3633 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3634
3635 (% class="box infomessage" %)
3636 (((
3637 ✎Note:
3638
3639 ▪Unable to restart this instruction;
3640
3641 ▪To end this instruction, MC_construction is needed;
3642
3643 ▪This instruction does not execute in-place inspection;
3644
3645 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3646
3647 ▪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;
3648
3649 ▪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.
3650 )))
3651
3652 Error code
3653
3654 |=**Error code**|=**Content**
3655 |7000OA|Axis is in a bound status.
3656 |7000OB|Axis cannot be bound at run time.
3657 |800014|The master axis is consistent with the slave axis.
3658 |800015|The master axis is consistent with the auxiliary axis.
3659 |800016|The auxiliary axis is consistent with the slave axis.
3660 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3661
3662 (% style="text-align:center" %)
3663 [[image:1709014704454-580.png||_mstalt="294047"]]
3664
3665
3666 === **MC_MOVEVELOCITY** ===
3667
3668 ----
3669
3670 MC_MOVEVELOCITY
3671
3672 (% style="text-align:center" %)
3673 [[image:1709014790717-456.png||_mstalt="296101"]]
3674
3675 Device used (Only a single device can be used, and device splicing and index are not supported)
3676
3677 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3678 | | |**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**
3679 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3680 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3681 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3682 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3683 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3684 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3685 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3686 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3687 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3688 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3689 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3690 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3691 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3692 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3693 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3694
3695 Precautions for use of devices
3696
3697 ▪LC and HSC are signed 32-bit data types;
3698
3699 ▪T, C, D, R and SD are signed 16-bit data types;
3700
3701 Variable type used
3702
3703 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3704 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3705 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3706 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3707 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3708 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3709 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3710 |Direction|WORD|No|[1]|(((
3711 Direction flag
3712
3713 1: Positive direction
3714
3715 2: Negative direction
3716
3717 3: Current direction
3718
3719 4: Shortest path
3720 )))
3721 |BufferMode|WORD|Yes|[0]|Buffer mode
3722 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3723 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3724 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3725 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3726 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3727 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3728 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3729
3730 Features
3731
3732 ▪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.
3733
3734 ▪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;
3735
3736 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3737
3738 ▪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.
3739
3740 ▪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.
3741
3742 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3743
3744 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3745
3746 Error code
3747
3748 |=**Error code**|=**Content**
3749 |4084H|Input data beyond the specifiable range
3750
3751 === **MC _ MOVEVELOCITY _ CSV** ===
3752
3753 MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3754
3755 [[image:1761032781939-478.png]]
3756
3757 The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
3758
3759 **Device used (only a single device can be used, device splicing and index are not supported)**
3760
3761 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3762 **Index**
3763
3764 **Modification**
3765 )))|(((
3766 **Pulse**
3767
3768 **Expansion**
3769 )))
3770 |**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**
3771 |(% rowspan="15" %)(((
3772 MC _ MOVEVELOCITY
3773
3774 _ CSV
3775 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3776 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3777 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3778 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3779 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3780 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3781 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3782 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3783 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3784 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3785 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3786 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3787 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3788 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3789 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3790
3791 **Notes:**
3792
3793 * LC and HSC are signed 32-bit data types;
3794 * T, C, D, R and SD are signed 16-bit data types.
3795
3796 **Variable type used**
3797
3798 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3799 |(% rowspan="15" %)(((
3800 MC _ MOVE
3801
3802 VELOCITY _ CSV
3803 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3804 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3805 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3806 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3807 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3808 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3809 |Direction|WORD|No|[1,4]|(((
3810 Direction flag bit (Only rotation mode takes effect）。
3811
3812 ~1. Positive direction;
3813
3814 2. Negative direction;
3815
3816 3. The current direction;
3817
3818 4. The shortest path (reserved).
3819 )))
3820 |BufferMode|WORD|Yes|[0]|BufferMode
3821 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3822 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3823 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3824 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3825 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3826 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3827 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3828
3829 **Function**
3830
3831 * The MC_ MOVEVELOCITY_CSV function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
3832 * Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
3833 * When the speed of the controlled axis reaches the input parameter ‘Velocity’ setpoint, the output parameter ‘InVelocity’ is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter InVelocity is reset;
3834 * The MC_ MOVEVELOCITY_CSV function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3835 * The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3836
3837 **Error code**
3838
3839 |**Error code**|**Content**
3840 |4084H|Input data beyond the specifiable range
3841
3842 **Precautions**
3843
3844 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3845 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3846
3847 **Timing diagram**
3848
3849
3850 (% style="text-align:center" %)
3851 [[image:1761032845559-339.png||height="306" width="520"]]
3852
3853 === **MC _ SYNCMOVEVELOCITY** ===
3854
3855 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3856
3857 [[image:1761032974104-584.png]]
3858
3859 The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
3860
3861 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3862
3863 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3864 |**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**
3865 |(% rowspan="8" %)(((
3866 MC _ SYNCMOVE
3867
3868 VELOCITY
3869 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3870 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3871 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3872 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3873 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3874 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3875 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3876 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3877
3878 **Notes for using devices**
3879
3880 * LC and HSC are signed 32-bit data types;
3881 * T, C, D, R and SD are signed 16-bit data types.
3882
3883 **Variable type used**
3884
3885 |**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3886 |(% rowspan="8" %)(((
3887 MC _ SYNCMOVE
3888
3889 VELOCITY
3890 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3891 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3892 |Axis|(((
3893 WORD
3894
3895
3896 )))|No|[0,65535]|Axis number and built-in variable of axis
3897 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3898 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3899 |CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3900 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3901 |ErrorID|DWORD|Yes|-|(((
3902 Error code (Please refer to
3903
3904 [[8.11 Error Code>>path:#错误码对照表]]
3905 )))
3906
3907 **Function**
3908
3909 * The MC _ SYNCMOVEVELOCITY function block function block is used to continue the movement of the previous function block and move according to the speed specified by the function block.
3910 * Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
3911 * When the speed of the controlled axis reaches the input parameter Velocity setpoint, the output parameter InVelocity is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter ‘InVelocity’ is reset;
3912 * The MC _ SYNCMOVEVELOCITY function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3913 * The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3914
3915 **✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3916
3917
3918 **Error code**
3919
3920 |**Error code**|**Content**
3921 |4084H|Input data beyond the specifiable range
3922
3923 **Timing diagram**
3924
3925 (% style="text-align:center" %)
3926 [[image:1761033004563-270.png]]
3927
3928 === **MC _ SETTORQUE** ===
3929
3930 MC _ SETTORQUE-Synchronous torque instruction
3931
3932 [[image:1761033083623-162.png]]
3933
3934 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3935
3936 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3937 **Index**
3938
3939 **Modification**
3940 )))|(((
3941 **Pulse**
3942
3943 **Expansion**
3944 )))
3945 |**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**
3946 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3947 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3948 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3949 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3950 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3951 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3952 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3953 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3954 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3955 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3956 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3957
3958 **Notes for using devices**
3959
3960 * LC and HSC are signed 32-bit data types;
3961 * T, C, D, R and SD are signed 16-bit data types.
3962
3963 **Variable type used**
3964
3965 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3966 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3967 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3968 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3969 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3970 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3971 |Axis|WORD|No|[0,65535]|Axis number
3972 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3973 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3974 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3975 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3976 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3977 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3978
3979 **Function**
3980
3981 * This instruction is used to implement the synchronous torque control function and is only used for the bus servo axis. The rising edge and high level of the command are valid, and the virtual axis mode is not supported.
3982 * The following PDOs need to be configured in CST mode;
3983
3984 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3985
3986 0x1A00: 0x6061, 0x6077, 0x6041
3987
3988 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3989 * When Enable = ON, the function block converts TarTorque and MaxVelocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion. When the falling edge of Eanble, the function block performs synchronous torque motion with the TarTorque and Velocity latched during the high level, and it is invalid to modify the TarTorque and Velocity in real time;
3990 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3991 * This instruction uses the driver synchronous torque mode to realize the torque control function. When Enable = ON, the function block converts TarTorque and Velocity from user units to pulse units and sends them to the servo driver from time to time. The shaft is in the Continuous Motion state and performs synchronous torque motion;
3992
3993 TarTorque: The target torque, the unit is 0.1%. One decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters.
3994
3995 **Note**
3996
3997 * This function block is not available when the axis does not exist.
3998
3999 === **MC _ TORQUECONTROL** ===
4000
4001 MC _ TORQUECONTROL-Torque control command
4002
4003 [[image:1761033167971-496.png||height="206" width="262"]]
4004
4005 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4006
4007 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4008 **Index**
4009
4010 **Modification**
4011 )))|(((
4012 **Pulse**
4013
4014 **Expansion**
4015 )))
4016 |**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**
4017 |(% rowspan="13" %)(((
4018 MC _ TORQUE
4019
4020 CONTROL
4021 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4022 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4023 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4024 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4025 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4026 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4027 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4028 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4029 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4030 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4031 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4032 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4033 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4034
4035 **Notes for using devices**
4036
4037 * LC and HSC are signed 32-bit data types;
4038 * T, C, D, R and SD are signed 16-bit data types.
4039
4040 **Variable type used**
4041
4042 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4043 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4044 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4045 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4046 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4047 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4048 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4049 |Axis|WORD|No|[0,65535]|Axis number
4050 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4051 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4052 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4053 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4054 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4055 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4056
4057 **Function**
4058
4059 * This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid, and the imaginary axis mode is not supported.
4060 * The following PDOs need to be configured in CST mode:
4061
4062 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4063
4064 0x1A00: 0x6061, 0x6077, 0x6041
4065
4066 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4067
4068 **Function description**
4069
4070 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4071 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4072 * On the rising edge of the instruction, the function block latches the input parameters of TarTorque, TorqueSlope and MaxVelocity, and the axis is in the ContinuousMotion state and performs torque motion;
4073
4074 TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4075
4076 TorqueSlope: Moment slope, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded;
4077
4078 * Speed control in torque mode
4079
4080 For servo drives, if 0x607f is mapped in the axis parameter, this instruction limits the maximum speed of the servo motor by 0x607f, if 0x607f is not mapped, the speed limit is invalid;
4081
4082 On the rising edge of Execute, the instruction converts the speed limit set by Velocity into pulse units and writes it into 0x607f through PDO;
4083
4084 When the torque instruction is interrupted by others, the maximum speed of the axis will be limited by the "Maximum speed" in the configuration interface;
4085
4086 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4087
4088 The maximum speed of the servomotor can be limited by 0x607F;
4089
4090 0x607F can be configured into the PDO;
4091
4092 The unit of 0x607F is pulse unit, non-speed unit.
4093
4094 * Stop control on torque mode
4095
4096 In the torque mode, the MC _ Stop instruction is called to perform the shut down, and after receiving the Stop instruction, the driver switches to the synchronous position mode, and performs deceleration according to the deceleration set by the Stop instruction.
4097
4098 * Interrupt
4099
4100 In PLCOpen, when the instruction is valid, the axis will be in the Continuous Motion state. Other instructions that can make the axis in Discrete motion or comply with PLCOpen state machine switching can interrupt the instruction. When the instruction is interrupted, CommandAboarted is valid;
4101
4102 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4103
4104 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4105
4106 **Timing diagram**
4107
4108 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4109
4110 (% style="text-align:center" %)
4111 [[image:1761033264625-188.png]]
4112
4113
4114 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4115
4116 (% style="text-align:center" %)
4117 [[image:1761033334729-116.png]]
4118
4119 === **MC _ MOVEABSRELPP** ===
4120
4121 MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4122
4123 [[image:1761034254689-443.png]]
4124
4125 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4126
4127 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4128 **Pulse**
4129
4130 **Expansion**
4131 )))
4132 |**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**
4133 |(% rowspan="13" %)(((
4134 MC _ MOVEA
4135
4136 BSRELPP
4137 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4139 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4140 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4141 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4142 |Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4143 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4144 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4147 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4148 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4149 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4150
4151 **Notes for using devices**
4152
4153 * LC and HSC are signed 32-bit data types;
4154 * T, C, D, R and SD are signed 16-bit data types.
4155
4156 **Variable type used**
4157
4158 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4159 |(% rowspan="13" %)(((
4160 MC _ MOVE
4161
4162 ABSRELPP
4163 )))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4164 |Mode|INT|No|0,1|(((
4165 1: Absolute mode.
4166
4167 1: Relative mode
4168 )))
4169 |Position|LREAL|No|(((
4170 -999999999.999999
4171
4172 999999999.999999
4173 )))|Target location
4174 |Velocity|LREAL|No|（0,999999999.999999]|Velocity
4175 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4176 |Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4177 |Axis|WORD|No|[0,65535]|Axis number
4178 |(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4179 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4180 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4181 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4182 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4183 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4184
4185 **Function**
4186
4187 * This command is used to control the EtherCAT bus contour axis to realize the absolute/relative positioning function in contour position mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid.
4188 * Contour Position Mode requires the following PDOs:
4189
4190 0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4191
4192 0x1A00: 0x6061, 0x6064, 0x6041
4193
4194 **Function description**
4195
4196 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4197 * At the rising edge of the Execute input, the instruction latches the input parameters on the left side such as Position and Velocity, triggers the absolute/relative positioning function, and switches the PLCOpen state machine of the axis to the DiscreteMotion state;
4198 * When Mode = 0, the positioning Mode is absolute positioning Mode, and Position is used to set the target Position of absolute positioning. If the axis Mode is configured as rotation Mode, the target Position is positioned according to the shortest distance;
4199 * When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4200 * Interrupt
4201
4202 When this instruction is valid in PLCOpen, the axis will be in the Discretemotion state. Other outline mode instructions that can make the axis in Discretemotion or comply with PLCOpen state machine switching can interrupt this instruction. CommandAboarted is valid when the instruction is interrupted. The instruction of periodic synchronization mode cannot be called, otherwise a fault will be reported;
4203
4204 CommandAboarted is valid when the MC _ Power instruction is invalid when Execute = TRUE and the Busy signal is valid causes the axis to be de-enabled.
4205
4206 **Timing diagram**
4207
4208
4209 (% style="text-align:center" %)
4210 [[image:1761034304535-743.png]]
4211
4212 === **MC _ MOVEVELOCITYPV** ===
4213
4214 MC _ MOVEVELOCITYPV-Contour Speed Command
4215
4216 [[image:1761034415972-645.png]]
4217
4218 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4219
4220 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4221 **Index**
4222
4223 **Modification**
4224 )))|(((
4225 **Pulse**
4226
4227 **Expansion**
4228 )))
4229 |**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**
4230 |(% rowspan="11" %)(((
4231 MC _ MOVEVELO
4232
4233 CITYPV
4234 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4236 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4237 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4238 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4239 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4242 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4243 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4244 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4245
4246 **Notes for using devices**
4247
4248 * LC and HSC are signed 32-bit data types;
4249 * T, C, D, R and SD are signed 16-bit data types.
4250
4251 **Variable type used**
4252
4253 |**Instruction**|(((
4254 **Pin**
4255
4256 **type**
4257 )))|**Parameter**|(((
4258 **Variable**
4259
4260 **Type**
4261 )))|(((
4262 **Can you**
4263
4264 **Is empty**
4265 )))|**Range**|**Description**
4266 |(% rowspan="11" %)(((
4267 MC _ MOVEVE
4268
4269 LOCITYPV
4270 )))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4271 |Velocity|LREAL|No|(((
4272 -999999999.999999
4273
4274 999999999.999999
4275 )))|Velocity
4276 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4277 |Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4278 |Axis|WORD|No|[0,65535]|Axis number
4279 |(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4280 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4281 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4282 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4283 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4284 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4285
4286 **Function**
4287
4288 * This command is used to realize the continuous motion function of EtherCAT bus contour axis in contour speed mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid;
4289 * This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4290 * The following PDOs are required for the profile speed mode:
4291
4292 0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4293
4294 0x1A00: 0x6061, 0x606c, 0x6041
4295
4296 **Function description**
4297
4298 * This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4299 * When Execute = TRUE, the instruction latches the input parameters on the left side such as Velocity and Acceleration, the axis continuously runs according to the target speed set by Velocity, and switches the PLCOpen state machine of the axis to the ContinuousMotion state.
4300
4301 **Timing diagram**
4302
4303
4304 (% style="text-align:center" %)
4305 [[image:1761034458765-139.png]]
4306
4307 === **MC _ TORQUECONTROLPT** ===
4308
4309 MC _ TORQUECONTROLPT-Contour torque control command
4310
4311 [[image:1761034544967-630.png]]
4312
4313 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4314
4315 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4316 |**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**
4317 |(% rowspan="11" %)(((
4318 MC _ TORQUE
4319
4320 CONTROLPT
4321 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4323 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4324 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4325 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4326 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4329 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4330 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4331 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4332
4333 **Notes for using devices**
4334
4335 * LC and HSC are signed 32-bit data types;
4336 * T, C, D, R and SD are signed 16-bit data types.
4337
4338 **Variable type used**
4339
4340 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4341 |(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4342 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4343 |TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4344 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4345 |Axis|WORD|No|[0,65535]|Axis number
4346 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4347 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4348 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4349 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4350 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4351 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4352
4353 **Function**
4354
4355 * This instruction is used to control the EtherCAT bus profile axis to realize the absolute/relative positioning function in profile position mode. In the basic settings of axis configuration, the profile mode option needs to be checked before it can be called, and the rising edge is valid;
4356 * This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid and the virtual axis mode is not supported;
4357 * Profile torque mode needs to be configured with the following PDOs:
4358
4359 0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4360
4361 0x1A00: 0x6061, 0x6077, 0x6041
4362
4363 **Function description**
4364
4365 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4366 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4367 * On the rising edge of the instruction, the function block latches the input parameters of TarTorque, TorqueSlope and MaxVelocity, and the axis is in the ContinuousMotion state and performs torque motion;
4368
4369 TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4370
4371 TorqueRamp: Torque ramp, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded.
4372
4373 * Speed control in torque mode
4374
4375 For servo drives, if 0x607f is mapped in the axis parameter, this instruction limits the maximum speed of the servo motor by 0x607f, if 0x607f is not mapped, the speed limit is invalid;
4376
4377 On the rising edge of Execute, the instruction converts the speed limit set by Velocity into pulse units and writes it into 0x607f through PDO;
4378
4379 When the torque instruction is interrupted by others, the maximum speed of the axis will be limited by the "Maximum speed" in the configuration interface;
4380
4381 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4382
4383 The maximum speed of the servomotor can be limited by 0x607F;
4384
4385 0x607F can be configured into the PDO;
4386
4387 The unit of 0x607F is pulse unit, non-speed unit.
4388
4389 * Stop control on torque mode
4390
4391 In the torque mode, the MC _ Stop instruction is called to perform the shut down, and after receiving the Stop instruction, the driver switches to the synchronous position mode, and performs deceleration according to the deceleration set by the Stop instruction.
4392
4393 * Interrupt
4394
4395 In PLCOpen, when the instruction is valid, the axis will be in the Continuous Motion state. Other instructions that can make the axis in Discrete motion or comply with PLCOpen state machine switching can interrupt the instruction. When the instruction is interrupted, CommandAboarted is valid;
4396
4397 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4398
4399 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4400
4401 **Timing diagram**
4402
4403 (% style="text-align:center" %)
4404 [[image:1761034615747-763.png]]
4405
4406 == **SDO instruction** ==
4407
4408 ----
4409
4410 === **MC_READSDO reads SDO data** ===
4411
4412 ----
4413
4414 MC_READSDO
4415
4416 This instruction is used to read the value of the servo object dictionary.
4417
4418 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4419
4420 Content, range and data type
4421
4422 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4423 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4424 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4425 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4426 |(D1)|The read device|-|Define the size according to S3.|-
4427 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4428
4429 Device used
4430
4431 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4432 | | |**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**
4433 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4434 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4435 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4436 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4437 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4438
4439 Features
4440
4441 ▪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).
4442
4443 (% class="box infomessage" %)
4444 (((
4445 ✎Note:
4446
4447 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4448 )))
4449
4450
4451 === **MC_WRITESD0 writes SDO data** ===
4452
4453 ----
4454
4455 MC_WRITESDO
4456
4457 This instruction is used to write the value of the servo object dictionary.
4458
4459 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4460
4461 Content, range and data type
4462
4463 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4464 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4465 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4466 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4467 |(S4)|The value to be written|-|Define the size according to S3.|-
4468 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4469
4470 Device used
4471
4472 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4473 | | |**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**
4474 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4475 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4476 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4477 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4478 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4479
4480 Features
4481
4482 ▪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).
4483
4484 (% class="box infomessage" %)
4485 (((
4486 ✎Note:
4487
4488 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4489 )))
4490
4491 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4492
4493 == **Built-in variables of pulse axis system** ==
4494
4495 The current state of the axis can be monitored in the program by its system variables.
4496
4497
4498 |**Name**|**Data type**|**Function**
4499 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4500 |wAxisID|WORD|Axis number (Read only)
4501 |wVersion|WORD|Version number (Read only)
4502 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4503 |nEtherCATNo|DINT|EtherCAT axis number
4504 |nLocalID|DINT|(((
4505 Local axis ID.
4506
4507 Y0/Y1 is 0;
4508
4509 Y2/Y3 is 1;
4510
4511 Y4/Y5 is 2;
4512
4513 Y6/Y7 is 3.
4514 )))
4515 |bVirtualAxis|BOOL|Virtual axis or not
4516 |Cmd|AXIS_INFO_CMD_T| Setting value
4517 |fSetPosition|LREAL|Setting position (Read only)
4518 |fSetVelocity|LREAL|Setting speed (Read only)
4519 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4520 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4521 |fSetJerk|LREAL|Setting jerk (Read only)
4522 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4523 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4524 |Act|AXIS_INFO_ACT_T|Current value
4525 |fActPosition|LREAL|Current position (Read only)
4526 |fActVelocity|LREAL|Current speed (Read only)
4527 |fActAcceleration|LREAL|Actual acceleration (Read only)
4528 |fActDeceleration|LREAL|Actual deceleration (Read only)
4529 |fActJerk|LREAL|Actual jerk (Read only)
4530 |fActTorque|LREAL|(((
4531 Current torque (Read only)
4532
4533 Reserved
4534 )))
4535 |fFollowPos|LREAL|Following error (Read only)
4536 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4537 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4538 |Status|AXIS_INFO_STATUS_T|Axis status
4539 |wAxisState|WORD|Axis status (Read only)
4540
4541 |**Name**|**Data type**|**Function**
4542 |wAxisError|DWORD|Axis error code (Read only)
4543 |wMotionState|WORD|Motion status (Read only)
4544 |bPowerState|BOOL|Axis enabled status (Read only)
4545 |bphLimit|BOOL|Hardware positive limit (Read only)
4546 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4547 |bHomeState|BOOL|Homing limit (Read only)
4548 |bPsLimit|BOOL|Software positive limit (Read only)
4549 |bnsLimit|BOOL|Software reverse limit (Read only)
4550 |bTarDir|BOOL|Direction of motion (Read only)
4551 |Dbg|AXIS_DEBUG_T|Axis debugging information
4552 |bAxisDebug|BOOL|Axis debugging switch
4553 |bPower|BOOL|Axis enable
4554 |bStop|BOOL|Axis stop
4555 |bReset|BOOL|Axis reset
4556 |bJogP|BOOL|JOG+
4557 |bJopN|BOOL|JOG-
4558 |bHome|BOOL|Homing
4559 |bSetPos|BOOL|Set the current position
4560 |bAbsPos|BOOL|Absolute positioning
4561 |bRevPos|BOOL|Reciprocating motion:
4562 |bRelPos|BOOL|Relative positioning
4563 |bVelocity|BOOL|Continuous motion
4564 |bTorque|BOOL|(((
4565 Torque Mode
4566
4567 Reserved
4568 )))
4569 |fPresetPosition|LREAL|Preset position
4570 |fJogVelocity|LREAL|JOG speed
4571 |fPositionOffser|LREAL|Homing mode offset
4572 |fTarPosition|LREAL|Target position
4573 |fTarVelocity|LREAL|Target velocity
4574 |fTarAcceleration|LREAL|Target acceleration
4575 |fTarDeceleration|LREAL|Target deceleration
4576 |fTarJerk|LREAL|Target jerk
4577 |fTarPosition2|LREAL|Target position 2
4578
4579 |**Name**|**Data type**|**Function**
4580 |fTarVelocity2|LREAL|Target speed 2
4581 |fTarAcceleration2|LREAL|Target jerk 2
4582 |fTarDeceleration2|LREAL|Target deceleration 2
4583 |fTarJerk2|LREAL|Target jerk 2
4584 |fTarTorque|LREAL|(((
4585 Target torque
4586
4587 Reserved
4588 )))
4589 |fTarTorqueSlop|LREAL|(((
4590 Torque ramp
4591
4592 Reserved
4593 )))
4594 |fLimitVelocity|LREAL|(((
4595 Limit the speed.
4596
4597 Reserved
4598 )))
4599 |Pdo|AXIS_INFO_PDO_T|PDO information
4600 |wControlWord|WORD|Control word
4601 |wStatusWord|WORD|Status word
4602 |nSetPosition|DINT|Setting position
4603 |nActPosition|DINT|Current position
4604 |nSetVelocity|DINT|Setting speed
4605 |nActVelocity|DINT|Current speed
4606 |nSetTorque|DINT|(((
4607 Setting torque (Read only)
4608
4609 Reserved
4610 )))
4611 |nActTorque|DINT|(((
4612 Current torque
4613
4614 Reserved
4615 )))
4616 |nDO|DINT|(((
4617 Digital output
4618
4619 Reserved
4620 )))
4621 |nDI|DINT|(((
4622 Digital input
4623
4624 Reserved
4625 )))
4626 |wModesOfPperation|WORD|Control mode
4627 |wModesOfPperationDisplay|WORD|Current control mode
4628 |wTouchFunction|WORD|Touch probe function settings
4629 |wTouchStaus|WORD|Probe touch status
4630 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4631 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4632 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4633 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4634 |nMaxVelocity|DINT|(((
4635 Maximum velocity
4636
4637 Reserved
4638 )))
4639 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4640 |nEncoderMode|BYTE|Encoder model.
4641
4642 |**Name**|**Data type**|**Function**
4643 | | |(((
4644 0: Incremental mode
4645
4646 1: Absolute mode.
4647 )))
4648 |nModeSet|BYTE|(((
4649 Mode settings.
4650
4651 0: Linear mode
4652
4653 1: Rotation mode.
4654 )))
4655 |dRotatePeriod|LREAL|Rotation cycle
4656 |nSpeedADType|BYTE|(((
4657 Speed acceleration and deceleration type.
4658
4659 0: Default mode;
4660
4661 1: T-curve;
4662
4663 2: S-curve.
4664 )))
4665 |bEnSwLimit|BOOL|Whether to enable software limit
4666 |dSwPLimit|LREAL|Positive limit unit
4667 |dSwNLimit|LREAL|Reverse limit unit
4668 |dFollowThreShold|LREAL|Following error threshold Unit
4669 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4670 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4671 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4672 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4673 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4674 |bNoInErrorStop|BOOL|(((
4675 Don’t enter ErrorStop after hitting the limit
4676
4677 status.
4678
4679 Reserved
4680 )))
4681 |bHdPLimit|BOOL|(((
4682 Hardware positive limit
4683
4684 0: Positive logic;
4685
4686 1: Negative logic;
4687
4688 Reserved: Not in use yet.
4689 )))
4690 |bHdNLimit|BOOL|(((
4691 Hardware reverse limit (Read-only)
4692
4693 0: Positive logic;
4694
4695 1: Negative logic;
4696
4697 Reserved: Not in use yet.
4698 )))
4699 |bEnProbe1|BOOL|(((
4700 Touch probe 1 enable
4701
4702 Reserved
4703 )))
4704 |bEnProbe2|BOOL|(((
4705 Touch probe 2 enable
4706
4707 Reserved
4708 )))
4709 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4710 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4711 |nOutputWay|DWORD|(((
4712 Output mode
4713
4714 0: Pulse+Direction; 1: CW/CCW.
4715 )))
4716 |nCounterMode|DWORD|(((
4717 Counting mode
4718
4719 0: A/B phase 1 times frequency;
4720 )))
4721
4722 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4723 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4724 1: A/B phase 2 times frequency;
4725
4726 2: A/B phase 4 times frequency;
4727
4728 3: CW/CCW;
4729
4730 4: Pulse+Direction;
4731
4732 5: Single phase count.
4733 )))
4734 |(% style="width:187px" %)(((
4735
4736
4737
4738 nSignalSource
4739 )))|(% style="width:215px" %)(((
4740
4741
4742
4743 DWORD
4744 )))|(% style="width:361px" %)(((
4745 Signal source
4746
4747 0: X0-Phase A;
4748
4749 1: X1-Phase B;
4750
4751 2: X2-Phase A;
4752
4753 3: X3-Phase B.
4754 )))
4755 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4756 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4757 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4758 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4759 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4760 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4761 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4762 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4763 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4764 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4765 Homing signal
4766
4767 0: Not assigned;
4768
4769 1: Not used;
4770
4771 2: In use.
4772 )))
4773 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4774 Z signal.
4775
4776 0: Not assigned;
4777
4778 1: Not used;
4779
4780 2: In use.
4781 )))
4782 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4783 Positive limit
4784
4785 0: Not assigned;
4786
4787 1: Not used;
4788
4789 2: In use.
4790 )))
4791 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4792 Negative limit
4793
4794 0: Not assigned;
4795
4796 1: Not used;
4797
4798 2: In use.
4799 )))
4800 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4801 Homing direction:
4802
4803 0: Not assigned;
4804
4805 1: Forward;
4806
4807 2: Reverse
4808 )))
4809 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4810 Enter the detection direction.
4811
4812 0: Not assigned;
4813 )))
4814
4815 |**Name**|**Data type**|**Function**
4816 | | |(((
4817 0: Positive
4818
4819 2: Reverse
4820 )))
4821 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4822 |(((
4823
4824
4825 nReturnZero
4826 )))|(((
4827
4828
4829 BYTE
4830 )))|(((
4831 Homing mode
4832
4833 0: Absolute homing 1: Relative homing.
4834 )))
4835 |dReturnSpeed|LREAL|Homing speed Unit/s
4836 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4837 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4838 |nReturnTimeOut|DINT|Homing overtime time ms
4839 |bEnPLimit|BOOL|Positive limit enables
4840 |bEnNLimit|BOOL|Negative limit enable
4841 |bEnSignalLimit|BOOL|Homing signal enable
4842 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4843 Positive limit address X0~~X1023.
4844
4845 (The local pulse axis currently only supports hardware limit X0-X7)
4846 )))
4847 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4848 Reverse limit address X0~~X1023.
4849
4850 (The local pulse axis currently only supports hardware limit X0-X7)
4851 )))
4852 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4853 Homing signal address X0 to X1023
4854
4855 (The local pulse axis currently only supports hardware limit X0-X7)
4856 )))
4857 |nPLimitLogic|BOOL|(((
4858 Forward limit logic
4859
4860 0: Forward logic;
4861
4862 1: Reverse logic.
4863 )))
4864 |nNLimitLogic|BOOL|(((
4865 Negative limit logic.
4866
4867 0: Positive logic;
4868
4869 1: Negative logic.
4870 )))
4871 |nSignalLogic|BOOL|(((
4872 Homing signal logic
4873
4874 0: Positive logic;
4875
4876 1: Negative logic.
4877 )))
4878 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4879 |bReverse|BOOL|Reverse or not
4880 |bEnGearBox|BOOL|Enable gearbox
4881 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4882 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4883 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4884 |nGearRatioM|INT|Gear ratio molecule
4885 |nGearRatioD|INT|Gear ratio denominator
4886
4887 == **Others** ==
4888
4889 ----
4890
4891 === **Single axis motion control status diagram** ===
4892
4893 ----
4894
4895 (% style="text-align:center" %)
4896 [[image:123.png||height="659" width="621"]]
4897
4898 === **Axis group motion control status diagram** ===
4899
4900 ----
4901
4902 (% style="text-align:center" %)
4903 [[image:234.png||height="405" width="669"]]
4904
4905
4906 === **Arc mode description** ===
4907
4908 ----
4909
4910 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4911 |(((
4912
4913
4914
4915 Features
4916 )))|(((
4917 The arc path consists of the starting point, auxiliary points, and ending point.
4918 )))|(((
4919
4920
4921 The arc path consists of the starting point, the center point, and theending point.
4922
4923
4924
4925 )))|(((
4926 The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4927
4928 The direction of the vector determines the direction of CW and CCW circles.
4929
4930 The vector length is the radius of the arc.
4931 )))
4932 |(((
4933
4934
4935
4936 Description
4937 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4938 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4939 |(((
4940
4941
4942 Path choice
4943 )))|Invalid|(((
4944 CW and CCW circles
4945
4946 CCW mode
4947
4948 CW mode
4949 )))|(((
4950 Major and minor arcs
4951
4952 1: Minor arc
4953
4954 0: Major arc
4955 )))
4956 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4957 Restriction of angle less than 2π for single instruction
4958
4959 The vector perpendicular to the circular plane must be calculated.
4960 )))
4961
4962 === **Transition mode description** ===
4963
4964 ----
4965
4966 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4967
4968 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4969 |TransitionParameter|Invalid|Invalid|Specified velocity
4970
4971 === **Mode selection instructions** ===
4972
4973 ----
4974
4975 [[image:1709016491129-791.png]]
4976
4977 (% style="width:659px" %)
4978 |=(% style="width: 656px;" %)**Caution**
4979 |(% style="width:656px" %)(((
4980 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;
4981
4982 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.
4983
4984 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!
4985 )))
4986
4987 (1) mcAborting
4988
4989 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.
4990
4991 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.
4992
4993 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4994
4995 Figure8-1
4996
4997 (% style="text-align:center" %)
4998 [[image:1709016579583-740.png]]
4999
5000
5001 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
5002
5003 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.
5004
5005 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.
5006
5007 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
5008
5009 Axis position is 1000u.
5010
5011 Figure8-2 The sequence diagram of normal working condition and mcAborting
5012
5013 (% style="text-align:center" %)
5014 [[image:1709016808830-880.png]]
5015
5016
5017 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.
5018
5019 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
5020
5021 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.
5022
5023 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.
5024
5025 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.
5026
5027 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.
5028
5029 This buffer mode is called mcAborting.
5030
5031 (2) mcBuffered
5032
5033 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.
5034
5035 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.
5036
5037 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.
5038
5039 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.
5040
5041 Figure8-3 Connections in mcBuffered
5042
5043 (% style="text-align:center" %)
5044 [[image:1709016841335-589.png]]
5045
5046 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.
5047
5048 and Done_1 is set, the work of the next function block will start immediately.
5049
5050 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.
5051
5052 Figure 8-4
5053
5054 (% style="text-align:center" %)
5055 [[image:1709016882878-958.png]]
5056
5057 mcBlending
5058
5059 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.
5060
5061 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.
5062
5063 Therefore, the mcBlending is divided into four types.
5064
5065 (1) mcBlendingLow.
5066
5067 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.
5068
5069 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.
5070
5071 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.
5072
5073 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
5074
5075 Figure 8-5 The connection of mcBlendingLow
5076
5077 (% style="text-align:center" %)
5078 [[image:1709016915405-788.png]]
5079
5080
5081 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.
5082
5083 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
5084
5085 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.
5086
5087 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
5088
5089 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.
5090
5091 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.
5092
5093 Figure 8-6 The sequence diagram of mcBlendingLow
5094
5095 (% style="text-align:center" %)
5096 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
5097
5098 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.
5099
5100 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
5101
5102 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.
5103
5104 mcBlendingPrevious
5105
5106 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.
5107
5108 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
5109
5110 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.
5111
5112 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.
5113
5114 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.
5115
5116 Figure 8-7 Sequence diagram of mcBlendingPrevious
5117
5118 (% style="text-align:center" %)
5119 [[image:1709017101626-838.png]]
5120
5121 mcBlendingNext
5122
5123 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.
5124
5125 Figure 8-8 shows the timing diagram of the mcBlendingNext.
5126
5127 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,
5128
5129 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.
5130
5131 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.
5132
5133 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.
5134
5135 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.
5136
5137 == **Error Code Cross-reference Table** ==
5138
5139 ----
5140
5141 |=**Error Code**|=**Error Definition**|=**Interpretation**
5142 |(% colspan="3" %)**Normal**
5143 |0x00|MC_ERROR_ID_SUCCESS|No error
5144 |(% colspan="3" %)**Run-time error**
5145 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
5146 Not feasible to compute
5147
5148 S-curve
5149 )))
5150 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
5151 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
5152 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
5153 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
5154 |(% colspan="3" %)**PLCOpen State-machine error**
5155 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
5156 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
5157 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
5158 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
5159 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
5160 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
5161 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
5162 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
5163 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
5164 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
5165 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
5166 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
5167 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
5168 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
5169 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
5170 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
5171 |(% colspan="3" %)**Error due to user/system limitations**
5172 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
5173 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
5174 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
5175 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
5176 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
5177 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5178 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5179 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5180 |0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5181 |(% colspan="3" %)**Error Stop**
5182 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5183 |(% colspan="3" %)**Error from servo**
5184 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
5185 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
5186 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
5187 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
5188 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
5189 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
5190 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
5191 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
5192 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
5193 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
5194 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
5195 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
5196 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
5197 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
5198 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
5199 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
5200 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
5201 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5202 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5203 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5204 |0x00600014|(((
5205 MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5206
5207 OVER_LIMIT
5208 )))|Pulse shaft HOME Velocity over limit
5209 |0x00600015|(((
5210 MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5211
5212 OVER_LIMIT
5213 )))|Pulse shaft HOME Acceleration over limit
5214 |0x00600020|(((
5215 MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5216
5217 NOTMAP
5218 )))|(((
5219 There is no required PDO for the mode
5220
5221 corresponding to mode switching.
5222 )))
5223 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5224 |(% colspan="3" %)**Axis’s error**
5225 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
5226 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
5227 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
5228 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
5229 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
5230 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
5231 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
5232 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
5233 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
5234 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
5235 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
5236 |0x0070000B|(((
5237 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
5238
5239 N
5240 )))|(((
5241 Axis can't combine while
5242
5243 running
5244 )))
5245 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
5246 |(% colspan="3" %)**General FB error**
5247 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
5248 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
5249 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
5250 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
5251 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
5252 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
5253 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
5254 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
5255 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
5256 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
5257 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
5258 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
5259 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
5260 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
5261 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
5262 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
5263 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
5264 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
5265 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
5266 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
5267 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
5268 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
5269 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
5270 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
5271 |(% colspan="3" %)**General axis group error**
5272 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
5273 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
5274 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
5275 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
5276 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
5277 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
5278 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
5279 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
5280 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
5281 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
5282 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
5283 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
5284 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
5285 |(% colspan="3" %)**Single axis planner error**
5286 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
5287 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
5288 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
5289 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
5290 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
5291 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
5292 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
5293 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
5294 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
5295 |(% colspan="3" %)**Axis group planner error**
5296 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
5297 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
5298 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5299 |(% colspan="3" %)**ECAM or EGEAR error**
5300 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5301 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5302 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5303 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5304 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5305 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5306 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5307 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5308 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5309 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5310 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5311 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5312 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5313 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5314 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5315 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5316 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5317 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5318 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5319 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5320 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5321 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5322
5323