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Wiki source code of 08 Motion Control

Version 2.1 by Iris on 2025/10/21 15:41
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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
818 Error code
819
820 |=**Error code**|=**Content**
821 |4084H|Data beyond the specifiable range was entered.
822
823 Sequence diagram
824
825 * When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:
826
827 (% style="text-align:center" %)
828 [[image:1708934225357-168.png||_mstalt="296452"]]
829
830 * When driver fails during the instruction running, sequence diagram is as follows:
831
832 (% style="text-align:center" %)
833 [[image:1708934303224-405.png||_mstalt="292370"]]
834
835 === **MC_HOME** ===
836
837 ----
838
839 MC_HOME
840
841 (% style="text-align:center" %)
842 [[image:1708934397030-253.png||_mstalt="294047"]]
843
844 This function block is used to change the state of the controlled axis to the origin state.
845
846 Device used (only a single device can be used, and device splicing and offset are not supported)
847
848 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
849 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
850 |(% colspan="1" rowspan="10" %)MC_HMOE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
851 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
852 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
853 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
854 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
855 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
856 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
857 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
858 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
859 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
860
861 Precautions for use of devices
862
863 * LC and HSC are signed 32-bit data types;
864 * T, C, D, R and SD are signed 16-bit data types.
865
866 Variable Type Used
867
868 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
869 |(% colspan="1" rowspan="10" %)MC_HOME|Execute|BOOL|No|TRUE/FALSE|Enable
870 |Position|LREAL|No|0 to 9999999.00|Position
871 |BufferMode|WORD|No|0 to 5|Mode selection
872 |Axis|WORD|No|0 to 65535|Axis number
873 |Done|BOOL|No|TRUE/FALSE|Completion sign
874 |Busy|BOOL|No|TRUE/FALSE|Busy sign
875 |Active|BOOL|Yes|TRUE/FALSE|Valid flag bit
876 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
877 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
878 |ErrorID|DWORD|No|-|Error code
879
880 Function
881
882 * It is determined whether the controlled axis returns to its origin by detecting the relevant limit switch, absolute position origin switch or transmitted sequence pulse signal.
883
884 Precautions
885
886 * This function block is not available when the axis does not exist.
887
888 Error code
889
890 |=**Error code**|=**Content**
891 |4084H|Data beyond the specifiable range was entered.
892
893 Sequence diagram
894
895 Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:
896
897
898 (% style="text-align:center" %)
899 [[image:1708934632681-933.png||_mstalt="296465"]]
900
901 === **MC_HALT** ===
902
903 ----
904
905 MC_HALT
906
907 (% style="text-align:center" %)
908 [[image:1708934697518-386.png||_mstalt="299234"]]
909
910 This function block is often used to stop the motion of the controlled axis under normal operating conditions.
911
912 Device used (only a single device can be used, and device splicing and offset are not supported)
913
914 (% style="width:1455px" %)
915 |=**Instruction**|=**Parameter**|=(% colspan="24" style="width: 935px;" %)**Devices**|=(% colspan="2" style="width: 91px;" %)(((
916 **Index modification**
917 )))|=**Pulse expansion**
918 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|(% colspan="2" style="width:22px" %)**E**|(% style="width:140px" %)**[D]**|(% colspan="2" %)**XXP**
919 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
920 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
921 |Jerk| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
922 |Axis| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
923 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
924 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
925 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
926 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
927 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
928 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
929
930 Precautions for use of devices
931
932 * LC and HSC are signed 32-bit data types;
933 * T, C, D, R and SD are signed 16-bit data types;
934
935 Variable Type Used
936
937 |**Instruction**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
938 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|BOOL|No|TRUE/FALSE|Enable
939 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
940 |Jerk|LREAL|No|0 to 9999999.00|Jerk
941 |Axis|WORD|No|0 to 65535|Axis number
942 |Done|BOOL|No|TRUE/FALSE|Data valid or not
943 |Busy|BOOL|No|TRUE/FALSE|Busy sign
944 |Active|BOOL|No|TRUE/FALSE|Valid sign
945 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
946 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
947 |ErrorID|DWORD|No|-|Error code
948
949 Function
950
951 * If the controlled axis is in a continuous motion state, the rising edge of the Execute signal input by the MC_Halt function block triggers the activation of the function block, so that the state of the controlled axis changes to the intermittent motion state. Similarly, if the controlled axis is in an intermittent motion state or a synchronous motion state, the activation of the MC_HALT function block will keep the controlled axis in an intermittent motion state. This function block is often used to stop the motion of the controlled axis under normal operating conditions.
952
953 Precautions
954
955 * This function block is not available when the axis does not exist.
956
957 Error code
958
959 |=**Error code**|=**Content**
960 |4084H|Data beyond the specifiable range was entered.
961
962 **Sequence diagram**
963
964 * After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:(((
965 (% style="text-align:center" %)
966 [[image:1708935236792-154.png||_mstalt="296127"]]
967 )))
968
969 * After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:
970
971 (% style="text-align:center" %)
972 [[image:1708935259573-284.png||_mstalt="297609"]]
973
974 * When executing MC_HALT, showdown failure happens, sequence diagram is as follows:
975
976 (% style="text-align:center" %)
977 [[image:1708935287683-523.png||_mstalt="297037"]]
978
979 === **MC_MOVEABSOLUTE** ===
980
981 ----
982
983 MC_MOVEABSOLUTE
984
985 (% style="text-align:center" %)
986 [[image:1708935525380-170.png||_mstalt="294034"]]
987
988 The function block makes the controlled axis reach the set absolute position with the input parameters.
989
990 Device used (only a single device can be used, and device splicing and offset are not supported)
991
992 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
993 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
994 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
995 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
996 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
997 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
998 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
999 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1000 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1001 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1002 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1003 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1004 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1005 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1006 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1007 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1008 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1009
1010 Precautions for use of devices
1011
1012 * LC and HSC are signed 32-bit data types;
1013 * T, C, D, R and SD are signed 16-bit data types;
1014
1015 Variable Type Used
1016
1017
1018 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1019 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
1020 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1021 |Position|LREAL|No|-9999999.00~~9999999.00|Absolute position
1022 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1023 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1024 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1025 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1026 |BufferMode|WORD|No|0 to 5|Mode selection
1027 |Axis|WORD|No|0 to 65535|Axis number
1028 |Done|BOOL|No|TRUE/FALSE|Completion sign
1029 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1030 |Active|BOOL|No|TRUE/FALSE|Valid sign
1031 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1032 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1033 |ErrorID|DWORD|No|-|Error code
1034
1035 Function
1036
1037 * The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).
1038
1039 Precautions
1040
1041 * This function block is not available when the axis does not exist.
1042
1043 Error code
1044
1045 |=**Error code**|=**Content**
1046 |4084H|Data beyond the specifiable range was entered.
1047
1048 Sequence diagram
1049
1050 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1051
1052 (% style="text-align:center" %)
1053 [[image:1708935703902-764.png||_mstalt="296088"]]
1054
1055 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1056
1057 (% style="text-align:center" %)
1058 [[image:1708935740101-262.png||_mstalt="292266"]]
1059
1060 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1061
1062 (% style="text-align:center" %)
1063 [[image:1708935762521-958.png||_mstalt="297843"]]
1064
1065 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):
1066
1067 (% style="text-align:center" %)
1068 [[image:1708935788803-332.png||_mstalt="296166"]]
1069
1070 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1071
1072 (% style="text-align:center" %)
1073 [[image:1708935816541-212.png||_mstalt="293501"]]
1074
1075 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1076
1077 (% style="text-align:center" %)
1078 [[image:1708935852123-588.png||_mstalt="297206"]]
1079
1080 * mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1081
1082 (% style="text-align:center" %)
1083 [[image:1708935874762-466.png||_mstalt="298584"]]
1084
1085
1086 === **MC_MOVERELATIVE** ===
1087
1088 ----
1089
1090 MC_MOVERELATIVE
1091
1092 (% style="text-align:center" %)
1093 [[image:1708935994795-183.png||_mstalt="299455"]]
1094
1095 The function block makes the controlled axis reach the set absolute position with the input parameters.
1096
1097 Device used (only a single device can be used, and device splicing and offset are not supported)
1098
1099 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1100 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1101 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1102 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1103 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1104 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1105 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1106 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1107 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1108 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1109 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1110 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1111 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1112 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1113 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1114 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1115 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1116
1117 Precautions for use of devices
1118
1119 * LC and HSC are signed 32-bit data types;
1120 * T, C, D, R and SD are signed 16-bit data types.
1121
1122 Variable Type Used
1123
1124
1125 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1126 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1127 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1128 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1129 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1130 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1131 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1132 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1133 |BufferMode|WORD|No|0 to 5|Mode selection
1134 |Axis|WORD|No|0 to 65535|Axis number
1135 |Done|BOOL|No|TRUE/FALSE|Completion sign
1136 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1137 |Active|BOOL|No|TRUE/FALSE|Valid sign
1138 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1139 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1140 |ErrorID|DWORD|No|-|Error code
1141
1142 Function
1143
1144 * The function block takes the current position as the starting point of motion and controls the controlled axis to reach the set relative position (Distance) with the set parameters (velocity, acceleration, deceleration and jerk), It refers to the motion control that takes starting point of the motion + Distance as the end point.
1145
1146 Precautions
1147
1148 * This function block is not available when the axis does not exist.
1149
1150 Error code
1151
1152 |=**Error code**|=**Content**
1153 |4084H|Data beyond the specifiable range was entered.
1154
1155 Sequence diagram
1156
1157 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1158
1159 (% style="text-align:center" %)
1160 [[image:1708936170353-654.png||_mstalt="295438"]]
1161
1162 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1163
1164 (% style="text-align:center" %)
1165 [[image:1708936200749-506.png||_mstalt="295282"]]
1166
1167 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1168
1169 (% style="text-align:center" %)
1170 [[image:1708936252703-706.png||_mstalt="294801"]]
1171
1172 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)(((
1173 (% style="text-align:center" %)
1174 [[image:1708936284791-539.png||_mstalt="298623"]]
1175 )))
1176
1177 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1178
1179 (% style="text-align:center" %)
1180 [[image:1708936309446-511.png||_mstalt="294723"]]
1181
1182 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1183
1184 (% style="text-align:center" %)
1185 [[image:1708936332278-409.png||_mstalt="296439"]]
1186
1187 * McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1188
1189 (% style="text-align:center" %)
1190 [[image:1708936365320-929.png||_mstalt="296660"]]
1191
1192 === **MC_MOVEADDITIVE** ===
1193
1194 ----
1195
1196 MC_MOVEADDITIVE
1197
1198 (% style="text-align:center" %)
1199 [[image:1708936429637-442.png||_mstalt="296634"]]
1200
1201 This function block is a motion increment function block.
1202
1203 Device used (only a single device can be used, and device splicing and offset are not supported)
1204
1205 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1206 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1207 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1208 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1209 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1210 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1211 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1212 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1213 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1214 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1215 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1216 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1217 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1218 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1219 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1220 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1221 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1222
1223 Precautions for use of devices
1224
1225 * LC and HSC are signed 32-bit data types;
1226 * T, C, D, R and SD are signed 16-bit data types.
1227
1228 Variable Type Used
1229
1230 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1231 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1232 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1233 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1234 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1235 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1236 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1237 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1238 |BufferMode|WORD|No|0 to 5|Mode selection
1239 |Axis|WORD|No|0 to 65535|Axis number
1240 |Done|BOOL|No|TRUE/FALSE|Completion sign
1241 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1242 |Active|BOOL|No|TRUE/FALSE|Valid sign
1243 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1244 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1245 |ErrorID|DWORD|No|-|Error code
1246
1247 Function
1248
1249 * It is used to add the input parameters (velocity, acceleration, deceleration and jerk) specified by this function block to reach the specified distance (Distance) on the basis of existing motion, i.e., adding distance.
1250
1251 Precautions
1252
1253 * This function block is not available when the axis does not exist.
1254
1255 Error code
1256
1257 |=**Error code**|=**Content**
1258 |4084H|Data beyond the specifiable range was entered.
1259
1260 Sequence diagram
1261
1262 When using MC_MOVEABSOLUTE with MC_MOVEADDITIVE together, and when the tagret position of MC_MOVEABSOLUTE is 10 and velocity is 5, the stacked position of MC_MOVEADDITIVE is 15 and velocity is 10, the relationship between position and velocity of Axis_0 is as follows:
1263
1264 (% style="text-align:center" %)
1265 [[image:1708936628466-218.png||_mstalt="297193"]]
1266
1267 === **MC_MOVESUPERIMPOSED** ===
1268
1269 ----
1270
1271 MC_MOVESUPERIMPOSED
1272
1273 (% style="text-align:center" %)
1274 [[image:1708936695676-290.png||_mstalt="298506"]]
1275
1276 This function block is a motion superposition function block.
1277
1278 Device used (only a single device can be used, and device splicing and offset are not supported)
1279
1280 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1281 **Index**
1282
1283 **modification**
1284 )))|=(((
1285 **Pulse**
1286
1287 **expansion**
1288 )))
1289 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1290 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1291 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1292 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1293 |VelocityDiff| | | | | | | | | | | | | | | | | | | | | | | | | |
1294 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1295 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1296 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1297 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1298 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1299 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1301 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1302 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1303 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1304 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1305
1306 Precautions for use of devices
1307
1308 * LC and HSC are signed 32-bit data types;
1309 * T, C, D, R and SD are signed 16-bit data types;
1310
1311 Variable Type Used
1312
1313 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1314 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|BOOL|No|TRUE/FALSE|Enable
1315 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1316 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1317 |VelocityDiff|LREAL|No|0 to 9999999.00|Velocity
1318 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1319 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1320 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1321 |BufferMode|WORD|No|0 to 5|Mode selection
1322 |Axis|WORD|No|0 to 65535|Axis number
1323 |Done|BOOL|No|TRUE/FALSE|Completion sign
1324 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1325 |Active|BOOL|No|TRUE/FALSE|Valid sign
1326 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1327 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1328 |ErrorID|DWORD|No|-|Error code
1329
1330 Function
1331
1332 * This function block is used to superpose the motion, which means that on the basis of current motion speed, the velocity difference is added so that the input acceleration, deceleration and jerk are also increased based on the original motion values, i.e., increasing the velocity and making the controlled axis move to the specified (relative) distance (Distance).
1333
1334 Precautions
1335
1336 * This function block is not available when the axis does not exist;
1337 * When it executes, the previous function block should be executed first.
1338
1339 Error code
1340
1341 |=**Error code**|=**Content**
1342 |4084H|Data beyond the specifiable range was entered.
1343
1344 Sequence diagram
1345
1346 (% style="text-align:center" %)
1347 [[image:1708936849134-999.png||_mstalt="300794"]]
1348
1349
1350 == **Management Function Blocks for Multi-axis Motion Control** ==
1351
1352 ----
1353
1354 === **MC_CAMTABLESELECT** ===
1355
1356 ----
1357
1358 MC_CAMTABLESELECT
1359
1360 (% style="text-align:center" %)
1361 [[image:1708937013155-415.png||_mstalt="293540"]]
1362
1363 This function block is used to bind the cam table.
1364
1365 Device used (only a single device can be used, and device splicing and offset are not supported)
1366
1367
1368 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1369 **Index**
1370
1371 **modification**
1372 )))|=(((
1373 **Pulse**
1374
1375 **expansion**
1376 )))
1377 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1378 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1379 |Periodic|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1380 |MasterAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1381 |SlaveAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1382 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1383 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1384 |CamTable| | | | | | | | | | | | | | | | |●| | | | | | | | |
1385 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1386 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1387 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1388 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1389 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1390
1391 Precautions for use of devices
1392
1393 * LC and HSC are signed 32-bit data types;
1394 * T, C, D, R and SD are signed 16-bit data types;
1395
1396 Variable Type Used
1397
1398 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1399 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|BOOL|No|TRUE/FALSE|Enable
1400 |Periodic|BOOL|No|TRUE/FALSE|Cyclic mode setting
1401 |MasterAbsolute|BOOL|No|TRUE/FALSE|Master axis position mode setting
1402 |SlaveAbsolute|BOOL|No|TRUE/FALSE|Slave axis position mode setting
1403 |Master|WORD|No|-|Master axis
1404 |Slave|WORD|No|-|Slave axis
1405 |CamTable|Cam table (INT type variable)|No|-|Cam table
1406 |Done|BOOL|No|TRUE/FALSE|Completion sign
1407 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1408 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1409 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1410 |CamTableID|WORD|No|-|Cam table identification number
1411
1412 Function
1413
1414 * When MasterAbsolute is true, it means the master axis is under the absolute mode; when MasterAbsolute is false, it means the master axis is under the relative mode;
1415 * When SlaveAbsolute is true, it means the slave axis is under the absolute mode; when SlaveAbsolute is false, it means the slave axis is under the relative mode;
1416 * This function block is used to bind the cam table, that is, to bind the input master axis, slave axis and cam table. When calling MC_CAMIN function block, only the cam table bound by this function block can be used.
1417
1418 Precautions
1419
1420 * This function block is not available when the axis does not exist.
1421
1422 Error code
1423
1424 |=**Error code**|=**Content**
1425 |4084H|Data beyond the specifiable range was entered.
1426
1427 Sequence diagram
1428
1429 (% style="text-align:center" %)
1430 [[image:1708937230885-390.png||_mstalt="296439"]]
1431
1432 === **MC_GENERATECAMTABLE** ===
1433
1434 ----
1435
1436 MC_GENERATECAMTABLE
1437
1438 (% style="text-align:center" %)
1439 [[image:1708937316371-993.png||_mstalt="297687"]]
1440
1441 This function block is used to update the cam table.
1442
1443 Device used (Only a single device can be used, and device splicing and offset are not supported)
1444
1445 |=(((
1446
1447
1448 **Instruction**
1449 )))|=(((
1450
1451
1452 **Parameter**
1453 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1454 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1455 |(% colspan="1" rowspan="10" %)(((
1456
1457
1458
1459
1460 MC_GENERATECAMTABLE
1461 )))|Execute|[[image:1708937346410-601.png||_mstalt="292851"]]|[[image:1708937346412-566.png||_mstalt="296283"]]|[[image:1708937346413-140.png||_mstalt="293072"]]|[[image:1708937346413-653.png||_mstalt="295620"]]|[[image:1708937346414-925.png||_mstalt="296426"]]| | | | | | | | | | | | | | | | | | | | |
1462 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1463 |CamNode| | | | | | | | | | | | | | | | | | | | | | | | | |
1464 |NodeNum| | | | | | | | | | | | | | | | |[[image:1708937346415-218.png||_mstalt="295373"]]| | | | | | | | |
1465 |(((
1466 Generatecam
1467
1468 TableMode
1469 )))| | | | | | | | | | | | | | | | |[[image:1708937346415-626.png||_mstalt="296153"]]| | | | | | | | |
1470 |Done| |[[image:1708937346416-119.png||_mstalt="295646"]]|[[image:1708937346417-650.png||_mstalt="295711"]]|[[image:1708937346418-420.png||_mstalt="294554"]]|[[image:1708937346419-124.png||_mstalt="295178"]]| | | | | | | | | | | | | | | | | | | | |
1471 |Busy| |[[image:1708937346421-759.png||_mstalt="297427"]]|[[image:1708937346423-907.png||_mstalt="296439"]]|[[image:1708937346423-338.png||_mstalt="295958"]]|[[image:1708937346424-801.png||_mstalt="294619"]]| | | | | | | | | | | | | | | | | | | | |
1472 |InstructionAborted| |(((
1473 [[image:1708937346425-166.png||_mstalt="296166"]]
1474
1475 [[image:1708937346425-794.png||_mstalt="298064"]]
1476 )))|(((
1477 [[image:1708937346426-497.png||_mstalt="298389"]]
1478
1479 [[image:1708937346427-332.png||_mstalt="295152"]]
1480 )))|(((
1481 [[image:1708937346427-282.png||_mstalt="296309"]]
1482
1483 [[image:1708937346428-957.png||_mstalt="299104"]]
1484 )))|(((
1485 [[image:1708937346429-449.png||_mstalt="298298"]]
1486
1487
1488 )))| | | | | | | | | | | | | | | | | | | | |
1489 |Error| | | | |[[image:1708937346429-635.png||_mstalt="297362"]]| | | | | | | | | | | | | | | | | | | | |
1490 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1491
1492 Precautions for use of devices
1493
1494 * LC and HSC are signed 32-bit data types;
1495 * T, C, D, R and SD are signed 16-bit data types;
1496
1497 Variable type used
1498
1499 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1500 |(% colspan="1" rowspan="10" %)(((
1501
1502
1503
1504
1505
1506 MC_GENERATECAMTABLE
1507 )))|(% colspan="1" rowspan="5" %)(((
1508
1509
1510
1511 Input
1512 )))|Execute|BOOL|No|TRUE/FALSE|Enable
1513 |CamTableID|INT|No| |Cam tableID
1514 |CamNode|(((
1515 ARRAY
1516
1517 (CAMNODET)
1518 )))|No|-|Array of cam nodes
1519 |NodeNum|INT|No|2 ～361|Number of cam nodes
1520 |(((
1521 GeneratecamTable
1522
1523 Mode
1524 )))|(((
1525
1526
1527 INT
1528 )))|(((
1529
1530
1531 No
1532 )))|(((
1533
1534
1535
1536 )))|(((
1537 Effective mode
1538
1539 0： Effective in the next cam cycle;
1540
1541 Others: Reserved
1542 )))
1543 |(% colspan="1" rowspan="5" %)(((
1544
1545
1546
1547 Output
1548 )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1549 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1550 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1551 |Error|BOOL|Yes| |Whether there is an error or not
1552 |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1553
1554 Function
1555
1556 * This function block is used to update cam table. At the rising edge of startup, the cam data is calculated based on values of input variables camNode and NodeNum. The data is updated to the cam table specified by camTable, which is will be effective in the next cam cycle.
1557
1558 (% class="box infomessage" %)
1559 (((
1560 **✎Note:**
1561
1562 ~1. This function block is not available when the Cam table does not exist.
1563
1564 2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C
1565 )))
1566
1567 Sequence diagram
1568
1569 (% style="text-align:center" %)
1570 [[image:Picture12.png]]
1571
1572
1573 === **MC_SAVECAMTABLE** ===
1574
1575 ----
1576
1577 MC_SAVECAMTABLE
1578
1579 (% style="text-align:center" %)
1580 [[image:1708937631240-106.png||_mstalt="292552"]]
1581
1582 This function block is used to save the cam table.
1583
1584 Device used (Only a single device can be used, and device splicing and offset are not supported)
1585
1586 |=(((
1587
1588
1589 **Instruction**
1590 )))|=(((
1591
1592
1593 **Parameter**
1594 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1595 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1596 |(% colspan="1" rowspan="7" %)(((
1597
1598
1599
1600 MC_SAVECAMTABLE
1601 )))|Execute|[[image:1708937655104-706.png||_mstalt="295243"]]|[[image:1708937655106-671.png||_mstalt="295971"]]|[[image:1708937655107-449.png||_mstalt="297206"]]|[[image:1708937655108-356.png||_mstalt="296569"]]|[[image:1708937655108-481.png||_mstalt="296205"]]| | | | | | | | | | | | | | | | | | | | |
1602 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1603 |Done| |[[image:1708937655109-459.png||_mstalt="297986"]]|[[image:1708937655110-668.png||_mstalt="296530"]]|[[image:1708937655111-873.png||_mstalt="296114"]]|[[image:1708937655111-699.png||_mstalt="297934"]]| | | | | | | | | | | | | | | | | | | | |
1604 |Busy| |[[image:1708937655112-723.png||_mstalt="294658"]]|[[image:1708937655113-511.png||_mstalt="293475"]]|[[image:1708937655113-220.png||_mstalt="292643"]]|[[image:1708937655114-762.png||_mstalt="295997"]]| | | | | | | | | | | | | | | | | | | | |
1605 |InstructionAborted| |[[image:1708937655115-940.png||_mstalt="295620"]]|[[image:1708937655116-761.png||_mstalt="296192"]]|[[image:1708937655116-242.png||_mstalt="294554"]]|[[image:1708937655117-517.png||_mstalt="296257"]]| | | | | | | | | | | | | | | | | | | | |
1606 |Error| |[[image:1708937655118-872.png||_mstalt="297544"]]|[[image:1708937655121-206.png||_mstalt="293605"]]|[[image:1708937655122-669.png||_mstalt="297557"]]|[[image:1708937655123-657.png||_mstalt="296920"]]| | | | | | | | | | | | | | | | | | | | |
1607 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1608
1609 Precautions for use of devices
1610
1611 * LC and HSC are signed 32-bit data types;
1612 * T, C, D, R and SD are signed 16-bit data types;
1613
1614 Variable type used
1615
1616 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1617 |(% colspan="1" rowspan="7" %)(((
1618
1619
1620
1621
1622 MC_SAVECAMTABLE
1623 )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1624 |CamTableID|INT|No|-|Cam tableID
1625 |(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1628 |Error|BOOL|Yes|-|Whether there is an error or not
1629 |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1630
1631 Function
1632
1633 * This function block is used to save the specified cam table.
1634
1635 (% class="box infomessage" %)
1636 (((
1637 (% _mstmutation="1" %)**✎Note:**(%%)This function block is not available when the Cam table does not exist.
1638
1639 In the process of executing this instruction, the controller cannot be powered off. Otherwise, the data will fail to be saved and the cam data will be lost.
1640 )))
1641
1642 Error code
1643
1644 |=**Error code**|=**Content**
1645 |4084H|Data beyond the specifiable range was entered.
1646
1647 Sequence diagram
1648
1649 (% style="text-align:center" %)
1650 [[image:1708937834226-438.png||_mstalt="296829"]]
1651
1652 == **Motion Function Block for Multi-axis Motion Control** ==
1653
1654 ----
1655
1656 === **MC_CAMIN** ===
1657
1658 ----
1659
1660 MC_CAMIN
1661
1662 (% style="text-align:center" %)
1663 [[image:1708937946127-139.png||_mstalt="297128"]]
1664
1665 The function block enables the controlled axis to carry out cam motion.
1666
1667 Device used (only a single device can be used, and device splicing and offset are not supported)
1668
1669 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1670 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1671 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1672 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1673 |MasterIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1674 |SlaveIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1675 |MasterScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1676 |SlaveScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1677 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
1678 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
1679 |StartMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1680 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1681 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1682 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1683 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1684 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1685 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1686 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1687 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1688 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1689 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1690 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1691 |EndOfProfile| | | | | | | | | | | | | | | | | | | | | | | | | |
1692
1693 Precautions for use of devices
1694
1695 * LC and HSC are signed 32-bit data types;
1696 * T, C, D, R and SD are signed 16-bit data types;
1697
1698 Variable Type Used
1699
1700 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1701 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|BOOL|No|TRUE/FALSE|Enable
1702 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1703 |MasterIndex|LREAL|No|-9999999.00~~9999999.00|Master axis offset
1704 |SlaveIndex|LREAL|No|-9999999.00~~9999999.00|Slave axis bias
1705 |MasterScaling|LREAL|No|-9999999.00~~9999999.00|Master axis scaling factor
1706 |SlaveScaling|LREAL|No|-9999999.00~~9999999.00|Slave axis scaling factor
1707 |MasterStartDistance|LREAL|No|-9999999.00~~9999999.00 (not 0)|Master axis starting distance
1708 |MasterSyncPosition|LREAL|No|-9999999.00~~9999999.00|Master axis synchronization position
1709 |StartMode|WORD|No|0 to 2|Start mode (0-Absolute, 1-Relative, 2-Catchup)
1710 |MasterValueSource|WORD|No|0 to 2|(((
1711 Master axis synchronization source
1712
1713 (Instruction value, set value and actual value)
1714 )))
1715 |CamTableID|WORD|No|0 to 9999999.00|Electronic CAM table identification
1716 |BufferMode|WORD|No|0|Mode selection
1717 |Master|WORD|No|-|Master axis
1718 |Slave|WORD|No|-|Slave axis
1719 |InSync|BOOL|No|TRUE/FALSE|Completion sign
1720 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1721 |Active|BOOL|No|TRUE/FALSE|Valid sign
1722 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1723 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1724 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1725 |EndOfProfile|WORD|No|-|Electronic CAM end signal
1726
1727 Function
1728
1729 * This function starts with the input parameter MasterSyncPosition. Before reaching the MasterSyncPosition, the catchup or transition motion is carried out according to the set parameters (absolute relative of the master axis, absolute relative of the slave axis, starting mode). After reaching the MasterSyncPosition position, the positional relationship between the master axis and the slave axis is obtained according to the camTableID, and the relationship is corrected under the set offset and scaling factors of the master axis and the slave axis, and the cam motion is carried out.
1730 * MasterSyncPosition
1731
1732 MasterSyncPosition is the absolute position when the axis mode is absolute;
1733
1734 MasterSyncPosition is the relative position when the axis mode is relative;
1735
1736 * ImSync status bit is turned ON when the master axis reaches MasterSyncPosition position and the slave axis reaches the slave axis position corresponding to the cam table of the master axis. Generally speaking, when the slave axis is in relative mode, the MC_CAMIN instruction is executed, and this status bit will be turned ON immediately; when the slave axis is in absolute or tracing mode, the status bit will be turned ON immediately after the slave axis jumps or traces to the position corresponding to the master axis cam table.
1737 * The EndOfProfle status bit is turned ON after the slave axis has followed the master axis through the entire cam table; The StartMode parameter, together with the MasterAbsolute/SlaverAbsolute parameters in the MC_CAMTABLESELECT instruction, determines the motion mode of the master/slave axis.
1738 * The master mode is only determined by MasterAbsolute and is not affected by the value in StartMode. The slave axis mode is expressed as follows:
1739
1740 |=**StartMode**|=**SlaveAbsolute**|=**Slave axis mode**
1741 |Absolute|Relative|Relative
1742 |Absolute|Absolute|Absolute
1743 |Relative|Relative|Relative
1744 |Relative|Absolute|Relative
1745 |Catch up|Relative|Relative catch up
1746 |Catch up|Absolute|Relative catch up
1747
1748 |=**Master axis mode**|=**Slave axis mode**|=**Result**
1749 |(% colspan="1" rowspan="4" %)Relative|Relative|(((
1750 When CAMIN is executed, slave axis position jumps to the set offset position;
1751
1752 When master axis is executing, slave axis performs relative motion according to the start position of cam table.
1753 )))
1754 |Absolute|(((
1755 When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0);
1756
1757 When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
1758 )))
1759 |Relative|(((
1760 When CAMIN is executed, slave axis position catches up to the set offset position;
1761
1762 When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
1763 )))
1764 |Absolute catch up|(((
1765 When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0);
1766
1767 When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
1768 )))
1769 |(% colspan="1" rowspan="4" %)Absolute|Relative|(((
1770 When CAMIN is executed, slave axis position jumps to the set offset position;
1771
1772 When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
1773 )))
1774 |Absolute|(((
1775 When CAMIN is executed, slave axis position jumps to the current slave axis position corresponding to the master axis in the cam table (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1776
1777 After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
1778 )))
1779 |Relative catch up|(((
1780 When CAMIN is executed, slave axis position catches up to the set offset position;
1781
1782 When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
1783 )))
1784 |Absolute catch up|(((
1785 When CAMIN is executed, slave axis position catches up to the current slave axis position corresponding to the master axis in the cam table
1786
1787 (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1788
1789 After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.
1790 )))
1791
1792 * When axis is in absolute mode, if the current position of the axis is not within the range of the axis in the cam table, it will be processed by self-acting periodization.
1793
1794 Example: the current axis position is 110, and the axis position in the cam table is 0~~100, then the default axis position after CAMIN execution is 10 (the actual axis position does not change);
1795
1796 * The master-slave axis multiplier and master-slave axis offset parameters take effect when CAMIN is executed and do not support modification in the process; unsuitable parameters will cause the slave axis position to jump.
1797 * The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):
1798
1799 Master Position = Master Position * Master Multiplier + Master Offset
1800
1801 Slave position = Slave multiplier * CAM (spindle position) + Slave offset
1802
1803 * The master-slave multiplier cannot be 0.
1804
1805 Precautions
1806
1807 * This function block is not available when the axis does not exist;
1808 * The motion mode of the slave axis shall be determined according to start mode and SlaveAbsolute of CamtableSelect. See “Chapter 8.6” [Description of Several Modes in E-CAM] for details. MasterValueSource is now an actual value regardless of which mode you choose.
1809
1810 Error code
1811
1812 |=**Error code**|=**Content**
1813 |4084H|Data beyond the specifiable range was entered.
1814
1815 Sequence diagram
1816
1817 ▪ MC_CAMIN needs to be used in conjunction with MC_CAMTABLESELECT and a single-axis motion (e.g., MC_MOVEABSOLUTE), the sequence diagram is as follows.
1818
1819 (% style="text-align:center" %)
1820 [[image:1708938240121-859.png||_mstalt="295776"]]
1821
1822 (1) Slave motion varies depending on StartMode.
1823
1824 Assume that the start conditions for cam motion are as follows:
1825
1826 ▪ In condition 1, the master axis jumps at the position of 20 (70~~50), and the jumping position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) changes to TRUE when it passes the position of 70, and the slave axis starts camming.
1827
1828 ▪ In condition 2, the master axis will catch up at 20 (70~~50), and the catch-up position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) becomes TRUE when it passes the position of 70, and the slave axis starts camming.
1829
1830 ▪ In condition 3, the output variable InSync (in synchronization) becomes TRUE when the master axis passes the position of 70, and the slave axis starts camming.
1831
1832
1833 |=**Input variable**|=**Condition 1**|=**Condition 2**|=**Condition 3**
1834 |MasterAbsolute|True (Absolute)|True (Absolute)|True (Absolute)
1835 |SlaveAbsolute|True (Absolute)|True (Absolute)|FALSE (Relative)
1836 |StartMode|MC_START_MODE_ABSOLUTE|MC_START_MODE_RAMPIN|MC_START_MODE_RELATIVE
1837 |MasterSyncPosition|70|70|70
1838 |MasterDistace|50|50|50
1839 |MasterOffset|0|0|0
1840 |SlaveOffset|0|0|0
1841 |MasterScaling|1|1|1
1842 |SlaveScaling|1|1|1
1843
1844 (2) Slave motion varies depending on MasterAbsolute.
1845
1846 (% style="text-align:center" %)
1847 [[image:1708938293300-489.png||_mstalt="296868"]]
1848
1849 (% style="text-align:center" %)
1850 [[image:1708938305434-874.png||_mstalt="296933"]]
1851
1852
1853 (% style="text-align:center" %)
1854 [[image:1708938314862-131.png||_mstalt="294060"]]
1855
1856 (3)Slave motion varies depending on SlaveAbsolute.
1857
1858
1859 (% style="text-align:center" %)
1860 [[image:1708938393382-857.png||_mstalt="299052"]]
1861
1862 (% style="text-align:center" %)
1863 [[image:1708938413402-528.png||_mstalt="294645"]]
1864
1865
1866 === **MC_CAMOUT** ===
1867
1868 ----
1869
1870 MC_CAMOUT
1871
1872 (% style="text-align:center" %)
1873 [[image:1708938462508-819.png||_mstalt="297947"]]
1874
1875 The function block enables the controlled axis to carry out uniform motion at current velocity.
1876
1877 Device used (only a single device can be used, and device splicing and offset are not supported)
1878
1879 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=(((
1880 **Pulse**
1881
1882 **expansion**
1883 )))
1884 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1885 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1886 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1887 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1888 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1889 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1890 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1891
1892 Precautions for use of devices
1893
1894 * LC and HSC are signed 32-bit data types;
1895 * T, C, D, R and SD are signed 16-bit data types;
1896
1897 Variable Type Used
1898
1899 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1900 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|BOOL|No|TRUE/FALSE|Enable
1901 |Slave|WORD|No|0 to 65535|Slave axis
1902 |Done|BOOL|No|TRUE/FALSE|Completion sign
1903 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1904 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1905 |ErrorID|DWORD|No|-|Error code
1906
1907 Function
1908
1909 * The function is used to separate the slave axis from the position relation specified for the electronic cam. Execute the MC_CamOut function block to transform the slave shaft from the synchronous state to the continuous motion state. The current velocity of the slave axis is maintained.
1910
1911 Precautions
1912
1913 * This function block is not available when the axis does not exist.
1914
1915 Sequence diagram
1916
1917 (% style="text-align:center" %)
1918 [[image:1708938589953-976.png||_mstalt="301886"]]
1919
1920
1921 === **MC_GEARIN** ===
1922
1923 ----
1924
1925 MC_GEARIN
1926
1927 (% style="text-align:center" %)
1928 [[image:1708938638291-674.png||_mstalt="298363"]]
1929
1930 The function block enables the controlled axis to carry out gear motion.
1931
1932 Device used (only a single device can be used, and device splicing and offset are not supported)
1933
1934 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1935 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1936 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1937 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1938 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
1939 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
1940 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1941 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1942 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1943 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1944 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1945 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1946 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1947 |InGear| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1948 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1949 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1950 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1951 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1952 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1953
1954 Precautions for use of devices
1955
1956 * LC and HSC are signed 32-bit data types;
1957 * T, C, D, R and SD are signed 16-bit data types;
1958
1959 Variable Type Used
1960
1961 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1962 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|BOOL|No|TRUE/FALSE|Enable
1963 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1964 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
1965 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
1966 |MasterValueSource|WORD|No|0 to 2|(((
1967 Master axis synchronization source
1968
1969 (Instruction value, set value and actual value)
1970 )))
1971 |Acceleration|LREAL|No|0 to 9999999.99999|Acceleration
1972 |Deceleration|LREAL|No|0 to 9999999.99999|Deceleration
1973 |Jerk|LREAL|No|0 to 9999999.99999|Jerk
1974 |BufferMode|WORD|No|0 to 5|Selection
1975 |Master|WORD|No|0 to 65536|Master axis
1976 |Slave|WORD|No|0 to 65536|Slave axis
1977 |InGear|BOOL|No|TRUE/FALSE|Completion sign
1978 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1979 |Active|BOOL|No|TRUE/FALSE|Valid sign
1980 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1981 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1982 |ErrorID|DWORD|No|-|Error code
1983
1984 Function
1985
1986 * The function block is used for establishing the synchronization of the velocity ratio between the master axis and the slave axis. Firstly, the slave axis takes the velocity of master axis multiplied by the velocity ratio as the target velocity and moves at the set acceleration and jerk and executes gear motion according to the velocity of master axis when reaching the target motion.
1987
1988 Precautions
1989
1990 * This function block is not available when the axis does not exist.
1991
1992 Error code
1993
1994 |=**Error code**|=**Content**
1995 |4084H|Data beyond the specifiable range was entered.
1996
1997 Sequence diagram
1998
1999 * After starting the motion, the slave axis performs acceleration and deceleration with the velocity obtained by multiplying the spindle speed by the gear ratio as the target speed;
2000 * Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
2001 * The gear ratio is positive and the slave axis moves in the same direction as the master axis.
2002
2003 (% style="text-align:center" %)
2004 [[image:1708938826565-617.png||_mstalt="298246"]]
2005
2006 * The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.
2007
2008 (% style="text-align:center" %)
2009 [[image:1708938850653-961.png||_mstalt="297531"]]
2010
2011
2012 Before reaching synchronization, the slave axis moves according to the maximum acceleration set by the axis as plus or minus speed, and the slave axis velocity is recognized when it is equal to the speed of the master axis multiplied by the gear ratio.
2013
2014 When the speed of the slave axis equals the speed of the master axis multiplied by the gear ratio, the gears are recognized as meshing, and thereafter the slave axis follows the master axis completely.
2015
2016 1. Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)(((
2017 (% style="text-align:center" %)
2018 [[image:1708938900938-930.png||_mstalt="297011"]]
2019 )))
2020 1. Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)(((
2021 (% style="text-align:center" %)
2022 [[image:1708938892131-173.png||_mstalt="295360"]]
2023 )))
2024
2025 === **MC_GEAROUT** ===
2026
2027 ----
2028
2029 MC_GEAROUT
2030
2031 (% style="text-align:center" %)
2032 [[image:1708938960939-798.png||_mstalt="301990"]]
2033
2034 The function block enables the controlled axis to carry out uniform motion at current velocity.
2035
2036 Device used (only a single device can be used, and device splicing and offset are not supported)
2037
2038 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2039 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2040 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2041 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2042 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2043 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2044 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2045 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2046
2047 Precautions for use of devices
2048
2049 * LC and HSC are signed 32-bit data types;
2050 * T, C, D, R and SD are signed 16-bit data types;
2051
2052 Variable Type Used
2053
2054 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2055 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|BOOL|No|TRUE/FALSE|Enable
2056 |Slave|WORD|No|0 to 65535|Axis number
2057 |Done|BOOL|No|TRUE/FALSE|Completion sign
2058 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2059 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2060 |ErrorID|DWORD|No|-|Error code
2061
2062 Function
2063
2064 * The function block is used for separating the slave axis from the master axis at the velocity ratio and maintaining the motion at the velocity when it separates.
2065
2066 Precautions
2067
2068 * This function block is not available when the axis does not exist.
2069
2070 Sequence diagram
2071
2072 (% style="text-align:center" %)
2073 [[image:1708939163693-763.png||_mstalt="298233"]]
2074
2075 === ** MC_GEARINPOS** ===
2076
2077 ----
2078
2079 MC_GEARINPOS
2080
2081 (% style="text-align:center" %)
2082 [[image:1708939230407-562.png||_mstalt="294801"]]
2083
2084 The function block enables the controlled axis to carry out gear motion.
2085
2086 Device used (only a single device can be used, and device splicing and offset are not supported)
2087
2088
2089 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2090 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2091 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2092 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
2093 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
2094 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
2095 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2096 |SlaveSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2097 |SyncMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2098 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
2099 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2100 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2101 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2102 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2103 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2104 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
2105 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2106 |StartSync| | | | | | | | | | | | | | | | | | | | | | | | | |
2107 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2108 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2109 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2110 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2111 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2112 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2113
2114 Precautions for use of devices
2115
2116 * LC and HSC are signed 32-bit data types;
2117 * C, D, R and SD are signed 16-bit data types.
2118
2119 Variable Type Used
2120
2121 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2122 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|BOOL|No|TRUE/FALSE|Enable
2123 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
2124 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
2125 |MasterValueSource|WORD|No|0 to 2|(((
2126 Master axis synchronization source
2127
2128 (Instruction value, set value and actual value)
2129 )))
2130 |MasterSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Master axis synchronization position
2131 |SlaveSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Slave axis synchronization position
2132 |SyncMode|WORD|No|0 to 2|Synchronous mode (shortest, catchup, slowdown)
2133 |MasterStartDistance|LREAL|No|-9999999.999999 to 9999999.999999 (not 0)|Master axis starting distance
2134 |Velocity|LREAL|No|0 to 9999999.999999 (not 0)|Velocity
2135 |Acceleration|LREAL|No|0 to 9999999.999999 (not 0)|Acceleration
2136 |Deceleration|LREAL|No|0 to 9999999.999999 (not 0)|Deceleration
2137 |Jerk|LREAL|No|0 to 9999999.999999|Jerk
2138 |BufferMode|WORD|No|0 to 5|Buffer mode selection
2139 |Master|WORD|No|0 to 65535|Master axis
2140 |Slave|WORD|No|0 to 65535|Slave axis
2141 |StartSync|BOOL|No|TRUE/FALSE|Synchronous identification
2142 |InSync|BOOL|No|TRUE/FALSE|Synchronized sign
2143 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2144 |Active|BOOL|No|TRUE/FALSE|Valid sign
2145 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
2146 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2147 |ErrorID|DWORD|No|-|Error code
2148
2149 Function
2150
2151 * The function block is used to achieve the specified velocity ratio between the slave axis and master axis at the specific position through a set maximum velocity, acceleration, deceleration, jerk and synchronous mode.
2152
2153 Precautions
2154
2155 * This function block is not available when the axis does not exist.
2156
2157 Error code
2158
2159 |=**Error code**|=**Content**
2160 |4084H|Data beyond the specifiable range was entered.
2161
2162 Sequence diagram
2163
2164 * After starting the motion, the slave axis performs acceleration and deceleration with the speed obtained by multiplying the axis velocity by the gear ratio as the target velocity;
2165 * The position obtained by ▪ (MasterSyncPosition - MasterStartDistance) is called the start position, and after the master axis reaches this position, the slave axis starts to catching up with the target;
2166 * If the gear ratio is positive, the slave axis moves in the same direction as the master axis.
2167
2168 (% style="text-align:center" %)
2169 [[image:1708939532879-130.png||_mstalt="296231"]]
2170
2171 * If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.
2172
2173 (% style="text-align:center" %)
2174 [[image:1708939562781-830.png||_mstalt="296764"]]
2175
2176 * Before reaching synchronization, the slave axis moves at the maximum acceleration set by the axis as plus or minus speed, and is recognized when the slave axis speed is equal to the speed of the master axis multiplied by the gear ratio.
2177 * When the speed of the slave axis equals the velocity of the master axis multiplied by the gear ratio, the gears are considered to be meshed, and thereafter the slave axis follows the main axis completely.
2178
2179 1. The master axis moves at a constant speed until synchronization is achieved (The gear instruction is triggered at a gear ratio of 1:1).(((
2180 (% style="text-align:center" %)
2181 [[image:1708939646390-943.png||_mstalt="297947"]]
2182 )))
2183 1. (((
2184 Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)
2185
2186 (% style="text-align:center" %)
2187 [[image:1708939657645-807.png||_mstalt="298857"]]
2188 )))
2189
2190 gearInPos carries out the pursuit motion in the following three modes, all following the spindle in gear motion after the target speed has been reached:
2191
2192 * Shortest: catching in constant acceleration mode;
2193 * Catchuo: catching in S-curve;
2194 * Slowdown: catching up in T-curve.
2195
2196 (% class="box infomessage" %)
2197 (((
2198 **✎** **Note:** When the amount of movement in the chase is short, there may be an abrupt change in speed from the axis to the target position and then directly to the target speed.
2199 )))
2200
2201
2202
2203 == **Management functions of axis group motion control** ==
2204
2205 ----
2206
2207 === **MC_ADDAXISTOGROUP** ===
2208
2209 ----
2210
2211 MC_ADDAXISTOGROUP
2212
2213 (% style="text-align:center" %)
2214 [[image:1708999788060-281.png||_mstalt="297531"]]
2215
2216 The function block is to add axis to axis group.
2217
2218 Device used (Only a single device can be used, and device splicing and index are not supported)
2219
2220 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2221 | | |**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**
2222 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2223 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2224 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2225 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2226 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2227 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2228 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2229
2230 Precautions for use of devices
2231
2232 ▪LC and HSC are signed 32-bit data types;
2233
2234 ▪T, C, D, R and SD are signed 16-bit data types;
2235
2236 Variable type used
2237
2238 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2239 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2240 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2241 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2242 |Axis|WORD|No|[0 to 65535]|Axis number
2243 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2244 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2245 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2246 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2247
2248 Features
2249
2250 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2251
2252 ▪IndentInGroup is a flag of the adding axis order to axis group.
2253
2254 (% class="box infomessage" %)
2255 (((
2256 ✎Note:
2257
2258 ▪If the serial number of the axis group does not exist, an error will be reported;
2259
2260 ▪When the axis group is enabled, an error will be reported when add new axis;
2261
2262 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2263 )))
2264
2265 Error code
2266
2267 |=**Error code**|=**Content**
2268 |4084H|Data beyond the specifiable range was input.
2269
2270 (% style="font-size:14px" %)Sequence diagram
2271
2272 (% style="text-align:center" %)
2273 [[image:1709000371923-181.png||_mstalt="292591"]]
2274
2275 === **MC_REMOVEAXISFROMGROUP** ===
2276
2277 ----
2278
2279 MC_REMOVEAXISFROMGROUP
2280
2281 (% style="text-align:center" %)
2282 [[image:1709000436811-846.png||_mstalt="294346"]]
2283
2284 This function block removes axis from an axis group.
2285
2286 Device used (Only a single device can be used, and device splicing and index are not supported)
2287
2288 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2289 | | |**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**
2290 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2291 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2292 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2293 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2294 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2295 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2296 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2297
2298 Precautions for use of devices
2299
2300 ▪LC and HSC are signed 32-bit data types;
2301
2302 ▪T, C, D, R and SD are signed 16-bit data types;
2303
2304 Variable type used
2305
2306 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2307 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2308 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2309 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2310 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2311 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2312 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2313 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2314
2315 Features
2316
2317 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2318
2319 (% class="box infomessage" %)
2320 (((
2321 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2322
2323 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2324
2325 ▪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.
2326 )))
2327
2328 Error code
2329
2330 |=**Error code**|=**Content**
2331 |4084H|Data beyond the specifiable range was input.
2332
2333 Sequence diagram
2334
2335 (% style="text-align:center" %)
2336 [[image:1709000691345-890.png||_mstalt="295061"]]
2337
2338 === **MC_UNGROUPALLAXES** ===
2339
2340 ----
2341
2342 MC_UNGROUPALLAXES
2343
2344 (% style="text-align:center" %)
2345 [[image:1709000738471-185.png||_mstalt="294762"]]
2346
2347 This function block removes all the axes from an axis group.
2348
2349 Device used (Only a single device can be used, and device splicing and index are not supported)
2350
2351 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2352 | | |**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**
2353 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2354 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2355 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2356 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2357 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2358 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2359
2360 Precautions for use of devices
2361
2362 ▪LC and HSC are signed 32-bit data types;
2363
2364 ▪T, C, D, R and SD are signed 16-bit data types;
2365
2366 Variable type used
2367
2368 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2369 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2370 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2371 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2372 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2373 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2374 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2375
2376 Features
2377
2378 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2379
2380 (% class="box infomessage" %)
2381 (((
2382 ✎Note:
2383
2384 ▪If the serial number of the axis group does not exist, an error will be reported;
2385
2386 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2387 )))
2388
2389 Error code
2390
2391 |=**Error code**|=**Content**
2392 |4084H|Input data beyond the specifiable range
2393
2394 (% style="font-size:14px" %)Sequence diagram
2395
2396 (% style="text-align:center" %)
2397 [[image:1709001126146-829.png||_mstalt="294489"]]
2398
2399 === **MC_GROUPENABLE** ===
2400
2401 ----
2402
2403 MC_GROUPENABLE
2404
2405 (% style="text-align:center" %)
2406 [[image:1709001201497-541.png||_mstalt="292682"]]
2407
2408
2409 The function block is axis group enabled.
2410
2411 Device used (Only a single device can be used, and device splicing and index are not supported)
2412
2413 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2414 | | |**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**
2415 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2416 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2417 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2418 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2419 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2420 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2421
2422 Precautions for use of devices
2423
2424 ▪LC and HSC are signed 32-bit data types;
2425
2426 ▪T, C, D, R and SD are signed 16-bit data types.
2427
2428 Variable type used
2429
2430 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2431 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2432 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2433 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2434 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2435 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2436 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2437
2438 Features
2439
2440 ▪Enable axis group to run on the Execute rising edge.
2441
2442 (% class="box infomessage" %)
2443 (((
2444 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2445
2446 ▪When a single axis is running, enabling this block will report an error.
2447 )))
2448
2449 Error code
2450
2451 |=**Error code**|=**Content**
2452 |4084H|Input data beyond the specifiable range
2453
2454 === **MC_GROUPDISABLE** ===
2455
2456 ----
2457
2458 MC_GROUPDISABLE
2459
2460 (% style="text-align:center" %)
2461 [[image:1709001439118-784.png||_mstalt="295594"]]
2462
2463 This function block is axis group disabled.
2464
2465 Device used (Only a single device can be used, an d device splicing and index are not supported)
2466
2467 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2468 | | |**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**
2469 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2470 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2471 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2472 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2473 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2474 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2475
2476 Precautions for use of devices
2477
2478 ▪LC and HSC are signed 32-bit data types;
2479
2480 ▪T, C, D, R and SD are signed 16-bit data types.
2481
2482 Variable type used
2483
2484 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2485 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2486 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2487 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2488 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2489 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2490 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2491
2492 Features
2493
2494 ▪On the Execute rising edge, disable the axis group.
2495
2496 (% class="box infomessage" %)
2497 (((
2498 ✎Note:
2499
2500 ▪Single axis operation can only be executed when the group is disabled.
2501
2502 ▪When a single axis is running, disabling this block will report an error.
2503 )))
2504
2505 Error code
2506
2507 |=**Error code**|=**Content**
2508 |4084H|Input data beyond the specifiable range
2509
2510 === **MC_GROUPREDACTUALPOSITION** ===
2511
2512 ----
2513
2514 MC_GROUPREADACTUALPOSITION
2515
2516 (% style="text-align:center" %)
2517 [[image:1709001728776-330.png||_mstalt="294255"]]
2518
2519 This function block is to read the actual position of each axis from the axis group.
2520
2521 Device used (Only a single device can be used, and device splicing and index are not supported)
2522
2523 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2524 | | |**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**
2525 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2526 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2527 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2528 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2529 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2530 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2531 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2532 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2533
2534 Precautions for use of devices
2535
2536 ▪LC and HSC are signed 32-bit data types;
2537
2538 ▪T, C, D, R and SD are signed 16-bit data types.
2539
2540 Variable type used
2541
2542 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2543 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2544 |CoordSystem|WORD|Yes|0|Coordinate system
2545 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2546 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2547 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2548 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2549 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2550 |Position|LREAL array|Yes| |Position
2551
2552 Features
2553
2554 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2555
2556 Error code
2557
2558 |=**Error code**|=**Content**
2559 |4084H|Input data beyond the specifiable range
2560
2561 === **MC_GROUPREADACTUALVELOCITY** ===
2562
2563 ----
2564
2565 MC_GROUPREADACTUALVELOCITY
2566
2567 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2568 (((
2569 (% data-widget="image" style="text-align: center;" %)
2570 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2571
2572 (% 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"]]
2573 )))
2574
2575 This function block is to read the actual velocity of each axis from the axis group.
2576
2577 Device used (Only a single device can be used, and device splicing and index are not supported)
2578
2579 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2580 | | |**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**
2581 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2582 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2583 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2584 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2585 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2586 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2587 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2588 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2589 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2590
2591 Precautions for use of devices
2592
2593 ▪LC and HSC are signed 32-bit data types;
2594
2595 ▪T, C, D, R and SD are signed 16-bit data types;
2596
2597 Variable type used
2598
2599
2600 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2601 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2602 |CoordSystem|WORD|Yes|0|Coordinate system
2603 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2604 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2605 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2606 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2607 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2608 |Velocity|LREAL array|Yes| |Velocity
2609 |PathVelocity|LREAL|Yes| |Path velocity
2610
2611 Features
2612
2613 * (((
2614 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.
2615 )))
2616
2617 Error code
2618
2619 |=**Error code**|=**Content**
2620 |4084H|Data beyond the specifiable range was input.
2621
2622 === **MC_GROUPREADERROR** ===
2623
2624 ----
2625
2626 MC_GROUPREADERROR
2627
2628 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2629 (((
2630 (% data-widget="image" style="text-align: center;" %)
2631 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2632
2633 (% 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"]]
2634 )))
2635
2636
2637 The function block is axis group to read error.
2638
2639 Device used (Only a single device can be used, and device splicing and index are not supported)
2640
2641 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2642 | | |**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**
2643 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2644 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2645 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2646 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2647 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2648 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2649 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2650
2651 Precautions for use of devices
2652
2653 ▪LC and HSC are signed 32-bit data types;
2654
2655 ▪T, C, D, R and SD are signed 16-bit data types;
2656
2657 Variable type used
2658
2659 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2660 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2661 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2662 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2663 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2664 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2665 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2666 |GroupErrorID|DWROD|Yes| |Axis group error code
2667
2668 Features
2669
2670 ▪When Enable= true, read the axis group error status.
2671
2672 Error code
2673
2674 |=**Error code**|=**Content**
2675 |4084H|Input data beyond the specifiable range
2676
2677 === **MC_GROUPREADSTATUS** ===
2678
2679 ----
2680
2681 MC_GROUPREADSTATUS
2682
2683 (% style="text-align:center" %)
2684 [[image:1709002503132-985.png||_mstalt="293943"]]
2685
2686 This function block reads the status of the currently activated axis group.
2687
2688 Device used (Only a single device can be used, and device splicing and index are not supported)
2689
2690 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2691 | | |**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**
2692 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2693 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2694 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2695 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2696 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2697 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2698 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2699
2700 Precautions for use of devices
2701
2702 ▪LC and HSC are signed 32-bit data types;
2703
2704 ▪T, C, D, R and SD are signed 16-bit data types;
2705
2706 Variable type used
2707
2708 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2709 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2710 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2711 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2712 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2713 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2714 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2715 |GroupErrorID|DWROD|Yes| |Axis group error code
2716
2717 Features
2718
2719 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2720
2721 ▪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.
2722
2723 ▪ InPosition is set to ON when reach the target position.
2724
2725 Error code
2726
2727 |=**Error code**|=**Content**
2728 |4084H|Input data beyond the specifiable range
2729
2730 === **MC_GROUPRESET** ===
2731
2732 ----
2733
2734 MC_GROUPRESET
2735
2736 (% style="text-align:center" %)
2737 [[image:1709002711461-974.png||_mstalt="294619"]]
2738
2739
2740 The function block is axis group reset.
2741
2742 Device used (Only a single device can be used, and device splicing and index are not supported)
2743
2744 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2745 | | |**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**
2746 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2747 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2748 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2749 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2750 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2751 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2752
2753 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2754 Precautions for use of devices
2755
2756 ▪LC and HSC are signed 32-bit data types;
2757
2758 ▪T, C, D, R and SD are signed 16-bit data types.
2759
2760 (% class="wikigeneratedid" id="HVariabletypeused" %)
2761 Variable type used
2762
2763 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2764 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2765 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2766 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2767 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2768 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2769 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2770
2771 Features
2772
2773 ▪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.
2774
2775 Error code
2776
2777 |=**Error code**|=**Content**
2778 |4084H|Input data beyond the specifiable range
2779
2780 === **MC_GROUPREADACTUALACCELERATION** ===
2781
2782 ----
2783
2784 MC_GROUPREADACTUALACCELERATION
2785
2786 (% style="text-align:center" %)
2787 [[image:1709002873108-663.png||_mstalt="294645"]]
2788
2789 This function block is to read the actual acceleration of each axis from the axis group.
2790
2791 Device used (Only a single device can be used, and device splicing and index are not supported)
2792
2793 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2794 | | |**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**
2795 |(% colspan="1" rowspan="9" %)(((
2796 MC_GROUPREADACTUALACCELERATION
2797
2798
2799 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2800 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2801 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2802 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2803 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2804 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2805 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2806 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2807 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2808
2809 Precautions for use of devices
2810
2811 ▪LC and HSC are signed 32-bit data types;
2812
2813 ▪T, C, D, R and SD are signed 16-bit data types;
2814
2815 Variable type used
2816
2817 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2818 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2819 |CoordSystem|WORD|Yes|0|Coordinate system
2820 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2821 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2822 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2823 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2824 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2825 |Acceleration|LREAL array|Yes| |Acceleration
2826 |PathAcceleration|LREAL|Yes| |Path acceleration
2827
2828 Features
2829
2830 ▪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.
2831
2832 Error code
2833
2834 |=**Error code**|=**Content**
2835 |4084H|Data beyond the specifiable range was input.
2836
2837 == **Axis group motion Function Blocks** ==
2838
2839 ----
2840
2841 === **MC_GROUPSTOP** ===
2842
2843 ----
2844
2845 MC_GROUPSTOP
2846
2847 (% style="text-align:center" %)
2848 [[image:1709003200997-104.png||_mstalt="292578"]]
2849
2850
2851 The function block is use to stop axis group.
2852
2853 Device used (Only a single device can be used, and device splicing and index are not supported)
2854
2855 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2856 | | |**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**
2857 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2858 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2859 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2860 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2861 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2862 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2863 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2864 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2865 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2866 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2867
2868 Precautions for use of devices
2869
2870 ▪LC and HSC are signed 32-bit data types;
2871
2872 ▪T, C, D, R and SD are signed 16-bit data types;
2873
2874 Variable type used
2875
2876 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2877 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2878 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2879 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2880 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2881 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2882 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2883 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2884 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2885 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2886 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2887
2888 Features
2889
2890 ▪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.
2891
2892 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2893
2894 ▪Only MC_GroupDisable can be used to interrupt axis group.
2895
2896 Error code
2897
2898 |=**Error code**|=**Content**
2899 |4084H|Input data beyond the specifiable range
2900
2901 === **MC_GROUPHALT** ===
2902
2903 ----
2904
2905 MC_GROUPHALT
2906
2907 (% style="text-align:center" %)
2908 [[image:1709003451573-543.png||_mstalt="293722"]]
2909
2910 The function block is to halt axis group.
2911
2912 Device used (Only a single device can be used, and device splicing and index are not supported)
2913
2914 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2915 | | |**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**
2916 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2917 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2918 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2919 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2920 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2921 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2922 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2923 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2924 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2925 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2926
2927 Precautions for use of devices
2928
2929 ▪LC and HSC are signed 32-bit data types;
2930
2931 ▪T, C, D, R and SD are signed 16-bit data types;
2932
2933 Variable type used
2934
2935 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2936 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2937 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2938 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2939 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2940 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2941 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2942 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2943 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2944 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2945 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2946
2947 Features
2948
2949 ▪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;
2950
2951 ▪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.
2952
2953 Error code
2954
2955 |=**Error code**|=**Content**
2956 |4084H|Data beyond the specifiable range was input.
2957
2958 === **MC_MOVELINEARABSOLUTE** ===
2959
2960 ----
2961
2962 MC_MOVELINEARABSOLUTE
2963
2964 (% style="text-align:center" %)
2965 [[image:1709003761756-581.png||_mstalt="295724"]]
2966
2967 This function block is absolute position linear interpolation.
2968
2969 Device used (Only a single device can be used, and device splicing and index are not supported)
2970
2971 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2972 | | |**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**
2973 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2974 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2975 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2976 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2977 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2978 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2979 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2980 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2981 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2982 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2983 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2984 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2985 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2986 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2987 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2988 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2989 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2990
2991 Precautions for use of devices
2992
2993 ▪LC and HSC are signed 32-bit data types;
2994
2995 ▪T, C, D, R and SD are signed 16-bit data types;
2996 Variable type used
2997
2998 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2999 |(% rowspan="17" %)(((
3000 MC_MOVELINEARABSOLUTE
3001 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3002 |Position|LREAL array|No|-|Position
3003 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3004 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3005 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3006 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3007 |CoordSystem|WORD|Yes|0|Coordinate system
3008 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3009 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3010 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3011 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3012 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3013 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3014 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3015 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3016 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3017 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3018
3019 Features
3020
3021 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3022
3023 (% class="box infomessage" %)
3024 (((
3025 ✎Note:
3026
3027 ▪The axis group can be moved only when being enabled;
3028
3029 ▪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.
3030
3031 ▪Linear motion is allowed to be interrupted;
3032
3033 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3034 )))
3035
3036 Error code
3037
3038 |=**Error code**|=**Content**
3039 |4084H|Input data beyond the specifiable range
3040
3041 (% style="text-align:center" %)
3042 [[image:1709004126151-658.png||_mstalt="294008"]]
3043
3044 === **MC_MOVELINEARRELATIVE** ===
3045
3046 ----
3047
3048 MC_MOVELINEARRELATIVE
3049
3050 (% style="text-align:center" %)
3051 [[image:1709004271451-886.png||_mstalt="295594"]]
3052
3053
3054 This function block is relative position linear interpolation.
3055
3056 Device used (Only a single device can be used, and device splicing and index are not supported)
3057
3058 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3059 | | |**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**
3060 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3061 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3062 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3063 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3064 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3065 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3066 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3067 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3068 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3069 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3070 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3071 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3072 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077
3078 Precautions for use of devices
3079
3080 ▪LC and HSC are signed 32-bit data types;
3081
3082 ▪T, C, D, R and SD are signed 16-bit data types.
3083
3084 Variable type used
3085
3086 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3087 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3088 |Distance|LREAL array|No|-|Position
3089 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3090 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3091 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3092 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3093 |CoordSystem|WORD|Yes|-|Coordinate system
3094 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3095 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3096 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3097 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3098 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3099 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3100 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3101 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3102 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3103 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3104
3105 Features
3106
3107 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3108
3109 (% class="box infomessage" %)
3110 (((
3111 ✎Note:▪The axis group can be moved only when being enabled;
3112
3113 ▪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.
3114
3115 ▪Linear motion is allowed to be interrupted;
3116
3117 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3118 )))
3119
3120 Error code
3121
3122 |=**Error code**|=**Content**
3123 |4084H|Input data beyond the specifiable range
3124
3125 (% style="text-align:center" %)
3126 [[image:1709004561796-657.png||_mstalt="297674"]]
3127
3128 === **MC_MOVECIRCULARABSOLUTE** ===
3129
3130 ----
3131
3132 MC_MOVECIRCULARABSOLUTE
3133
3134 (% style="text-align:center" %)
3135 [[image:1709004628989-926.png||_mstalt="299143"]]
3136
3137 The function block is absolute position circular interpolation.
3138
3139 Device used (Only a single device can be used, and device splicing and index are not supported)
3140
3141 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3142 | | |**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**
3143 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3144 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3145 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3146 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3147 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3148 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3149 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3150 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3151 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3152 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3153 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3154 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3155 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3156 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3157 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3158 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3159 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3160 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3161 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3162 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3163
3164 Precautions for use of devices
3165
3166 ▪LC and HSC are signed 32-bit data types;
3167
3168 ▪T, C, D, R and SD are signed 16-bit data types;
3169 Variable type used
3170
3171 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3172 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3173 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3174 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3175 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3176 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3177 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3178 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3179 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3180 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3181 |CoordSystem|WORD|Yes|0|Coordinate system
3182 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3183 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3184 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3185 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3186 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3187 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3188 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3189 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3190 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3191 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3192
3193 Features
3194
3195 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3196
3197 (% class="box infomessage" %)
3198 (((
3199 ✎Note**:**
3200
3201 ▪The axis group can be moved only when being enabled;
3202
3203 ▪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.
3204
3205 ▪Linear motion is allowed to be interrupted;
3206
3207 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3208 )))
3209
3210 Error code
3211
3212 |=**Error code**|=**Content**
3213 |4084H|Input data beyond the specifiable range
3214
3215 (% style="text-align:center" %)
3216 [[image:1709005028485-788.png||_mstalt="297895"]]
3217
3218 === **MC_MOVECIRCULARRELATIVE** ===
3219
3220 ----
3221
3222 MC_MOVECIRCULARRELATIVE
3223
3224 (% style="text-align:center" %)
3225 [[image:1709005280026-492.png||_mstalt="293397"]]
3226
3227 Device used (Only a single device can be used, and device splicing and index are not supported)
3228
3229 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3230 | | |**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**
3231 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3232 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3233 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3234 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3235 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3236 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3237 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3238 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3239 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3240 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3241 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3242 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3243 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3244 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3245 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3246 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3247 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3248 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3249 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3250 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3251
3252 Precautions for use of devices
3253
3254 ▪LC and HSC are signed 32-bit data types;
3255
3256 ▪T, C, D, R and SD are signed 16-bit data types;
3257
3258 Variable type used
3259
3260 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3261 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3262 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3263 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3264 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3265 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3266 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3267 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3268 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3269 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3270 |CoordSystem|WORD|Yes|-|Coordinate system
3271 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3272 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3273 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3274 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3275 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3276 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3277 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3278 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3279 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3280 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3281
3282 Features
3283
3284 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3285
3286 (% class="box infomessage" %)
3287 (((
3288 ✎Note:
3289
3290 ▪The axis group can be moved only when being enabled;
3291
3292 ▪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.
3293
3294 ▪Linear motion is allowed to be interrupted;
3295
3296 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3297 )))
3298
3299 Error code
3300
3301 |=**Error code**|=**Content**
3302 |4084H|Input data beyond the specifiable range
3303
3304 (% style="text-align:center" %)
3305 [[image:1709005752944-678.png||_mstalt="297869"]]
3306
3307 === **MC_MOVEDIRECTABSOLUTE** ===
3308
3309 ----
3310
3311 MC_MOVEDIRECTABSOLUTE
3312
3313 (% style="text-align:center" %)
3314 [[image:1709012205292-858.png||_mstalt="295360"]]
3315
3316 This function block is the fast positioning of absolute position.
3317
3318 Device used (Only a single device can be used, and device splicing and index are not supported)
3319
3320 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3321 | | |**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**
3322 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3323 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3324 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3325 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3326 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3327 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3328 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3329 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3330 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3331 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3332 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3333 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3334 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3335
3336 Precautions for use of devices
3337
3338 ▪LC and HSC are signed 32-bit data types;
3339
3340 ▪T, C, D, R and SD are signed 16-bit data types;
3341
3342 Variable type used
3343
3344 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3345 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3346 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3347 |CoordSystem|WORD|Yes|0|Coordinate system
3348 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3349 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3350 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3351 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3352 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3353 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3354 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3355 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3356 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3357 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3358
3359 Features
3360
3361 ▪ 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;
3362
3363 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3364
3365 (% class="box infomessage" %)
3366 (((
3367 ✎Note:
3368
3369 ▪The axis group can be moved only when being enabled;
3370
3371 ▪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.
3372
3373 ▪Linear motion is allowed to be interrupted;
3374
3375 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3376
3377 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3378 )))
3379
3380 Error code
3381
3382 |=**Error code**|=**Content**
3383 |4084H|Data beyond the specifiable range was input.
3384
3385 (% style="text-align:center" %)
3386 [[image:1709012383461-841.png||_mstalt="293800"]]
3387
3388 === **MC_MOVEDIRECTRELATIVE** ===
3389
3390 ----
3391
3392 MC_MOVEDIRECTRELATIVE
3393
3394 (% style="text-align:center" %)
3395 [[image:1709012442595-305.png||_mstalt="293592"]]
3396
3397 The function block executes the fast positioning of the relative position.
3398
3399 Device used (Only a single device can be used, and device splicing and index are not supported)
3400
3401 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3402 | | |**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**
3403 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3404 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3405 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3406 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3407 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3408 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3409 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3410 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3411 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3412 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3413 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3414 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3415 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3416
3417 Precautions for use of devices
3418
3419 ▪LC and HSC are signed 32-bit data types;
3420
3421 ▪T, C, D, R and SD are signed 16-bit data types;
3422
3423 Variable type used
3424
3425 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3426 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3427 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3428 |CoordSystem|WORD|Yes|0|Coordinate system
3429 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3430 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3431 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3432 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3433 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3434 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3435 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3436 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3437 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3438 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3439
3440 Features
3441
3442 ▪ 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;
3443
3444 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3445
3446 (% class="box infomessage" %)
3447 (((
3448 ✎Note:
3449
3450 ▪The axis group can be moved only when being enabled;
3451
3452 ▪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.
3453
3454 ▪Linear motion is allowed to be interrupted;
3455
3456 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3457
3458 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3459 )))
3460
3461 Error code
3462
3463 |=**Error code**|=**Content**
3464 |4084H|Input data beyond the specifiable range
3465
3466 (% style="text-align:center" %)
3467 [[image:1709012732094-708.png||_mstalt="294580"]]
3468
3469 == **Other special FB** ==
3470
3471 ----
3472
3473 === **MC_MOVEJOG** ===
3474
3475 ----
3476
3477 MC_MOVEJOG
3478
3479 (% style="text-align:center" %)
3480 [[image:1709014222028-861.png||_mstalt="293059"]]
3481
3482 The function block makes the controlled axis execute micro motion at the set target velocity.
3483
3484 Device used (Only a single device can be used, and device splicing and index are not supported)
3485
3486 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3487 | | |**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**
3488 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3489 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3490 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3491 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3492 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3493 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3494 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3495 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3496 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3497 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3498
3499 Precautions for use of devices
3500
3501 ▪LC and HSC are signed 32-bit data types;
3502
3503 ▪T, C, D, R and SD are signed 16-bit data types;
3504
3505 Variable type used
3506
3507 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3508 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3509 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3510 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3511 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3512 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3513 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3514 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3515 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3516 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3517 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3518
3519 Features
3520
3521 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3522
3523 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3524
3525 ▪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.
3526
3527 (% class="box infomessage" %)
3528 (((
3529 ✎Note:
3530
3531 ▪This function is not available when the axis does not exist.
3532
3533 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3534 )))
3535
3536 Error code
3537
3538 |=**Error code**|=**Content**
3539 |4084H|Input data beyond the specifiable range
3540
3541 (% style="text-align:center" %)
3542 [[image:1709014420505-664.png||_mstalt="293254"]]
3543
3544 === **MC_COMBINEAXES** ===
3545
3546 ----
3547
3548 MC_COMBINEAXES
3549
3550 (% style="text-align:center" %)
3551 [[image:1709014499579-362.png||_mstalt="297700"]]
3552
3553 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3554
3555 Device used (Only a single device can be used, and device splicing and index are not supported)
3556
3557 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3558 | | |**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**
3559 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3560 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3561 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3562 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3563 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3564 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3565 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3566 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3567 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3568 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3569 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3570 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3571 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3572 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3573
3574 Precautions for use of devices
3575
3576 ▪LC and HSC are signed 32-bit data types;
3577
3578 ▪T, C, D, R and SD are signed 16-bit data types;
3579
3580 Variable type used
3581
3582 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3583 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3584 |ConbineMode|WORD|Yes|[0 to 1]|(((
3585 Addition and subtraction operation selection
3586
3587 0: Addition
3588
3589 1: Subtraction
3590 )))
3591 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3592 Master axis position type
3593
3594 1: Feedback position
3595
3596 2: Instruction position
3597 )))
3598 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3599 Auxiliary axis position type
3600
3601 1: Feedback position
3602
3603 2: Instruction position
3604 )))
3605 |BufferMode|LREAL|No|0|Mode selection
3606 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3607 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3608 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3609 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3610 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3611 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3612 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3613 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3614 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3615
3616 Features
3617
3618 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3619
3620 (% class="box infomessage" %)
3621 (((
3622 ✎Note:
3623
3624 ▪Unable to restart this instruction;
3625
3626 ▪To end this instruction, MC_construction is needed;
3627
3628 ▪This instruction does not execute in-place inspection;
3629
3630 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3631
3632 ▪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;
3633
3634 ▪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.
3635 )))
3636
3637 Error code
3638
3639 |=**Error code**|=**Content**
3640 |7000OA|Axis is in a bound status.
3641 |7000OB|Axis cannot be bound at run time.
3642 |800014|The master axis is consistent with the slave axis.
3643 |800015|The master axis is consistent with the auxiliary axis.
3644 |800016|The auxiliary axis is consistent with the slave axis.
3645 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3646
3647 (% style="text-align:center" %)
3648 [[image:1709014704454-580.png||_mstalt="294047"]]
3649
3650
3651 === **MC_MOVEVELOCITY** ===
3652
3653 ----
3654
3655 MC_MOVEVELOCITY
3656
3657 (% style="text-align:center" %)
3658 [[image:1709014790717-456.png||_mstalt="296101"]]
3659
3660 Device used (Only a single device can be used, and device splicing and index are not supported)
3661
3662 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3663 | | |**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**
3664 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3665 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3666 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3667 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3668 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3669 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3670 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3671 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3672 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3673 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3674 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3675 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3676 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3677 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3678 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3679
3680 Precautions for use of devices
3681
3682 ▪LC and HSC are signed 32-bit data types;
3683
3684 ▪T, C, D, R and SD are signed 16-bit data types;
3685
3686 Variable type used
3687
3688 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3689 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3690 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3691 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3692 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3693 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3694 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3695 |Direction|WORD|No|[1]|(((
3696 Direction flag
3697
3698 1: Positive direction
3699
3700 2: Negative direction
3701
3702 3: Current direction
3703
3704 4: Shortest path
3705 )))
3706 |BufferMode|WORD|Yes|[0]|Buffer mode
3707 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3708 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3709 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3710 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3711 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3712 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3713 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3714
3715 Features
3716
3717 ▪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.
3718
3719 ▪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;
3720
3721 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3722
3723 ▪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.
3724
3725 ▪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.
3726
3727 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3728
3729 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3730
3731 Error code
3732
3733 |=**Error code**|=**Content**
3734 |4084H|Input data beyond the specifiable range
3735
3736 === **MC _ MOVEVELOCITY _ CSV** ===
3737
3738 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps1.png]]MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3739
3740 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3741
3742 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.
3743
3744 **Device used (only a single device can be used, device splicing and index are not supported)**
3745
3746 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3747 **Index**
3748
3749 **Modification**
3750 )))|(((
3751 **Pulse**
3752
3753 **Expansion**
3754 )))
3755 |**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**
3756 |(% rowspan="15" %)(((
3757 MC _ MOVEVELOCITY
3758
3759 _ CSV
3760 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3761 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3762 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3763 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3764 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3765 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3766 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3767 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3768 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3769 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3770 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3771 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3772 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3773 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3775
3776 **Notes:**
3777
3778 * LC and HSC are signed 32-bit data types;
3779 * T, C, D, R and SD are signed 16-bit data types.
3780
3781 **Variable type used**
3782
3783 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3784 |(% rowspan="15" %)(((
3785 MC _ MOVE
3786
3787 VELOCITY _ CSV
3788 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3789 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3790 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3791 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3792 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3793 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3794 |Direction|WORD|No|[1,4]|(((
3795 Direction flag bit (Only rotation mode takes effect）。
3796
3797 ~1. Positive direction;
3798
3799 2. Negative direction;
3800
3801 3. The current direction;
3802
3803 4. The shortest path (reserved).
3804 )))
3805 |BufferMode|WORD|Yes|[0]|BufferMode
3806 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3807 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3808 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3809 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3810 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3811 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3812 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3813
3814 **Function**
3815
3816 * The MC _ MoveVelocity function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
3817 * 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;
3818 * 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;
3819 * The MC _ MoveVelocity function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3820 * The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3821
3822 **Error code**
3823
3824 |**Error code**|**Content**
3825 |4084H|Input data beyond the specifiable range
3826
3827 **Precautions**
3828
3829 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3830 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3831
3832 **Timing diagram**
3833
3834 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3835
3836
3837
3838
3839 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840
3841 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3842
3843 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3844
3845 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.
3846
3847 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3848
3849 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3850 |**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**
3851 |(% rowspan="8" %)(((
3852 MC _ SYNCMOVE
3853
3854 VELOCITY
3855 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3856 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3857 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3858 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3859 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3860 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3861 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3862 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3863
3864 **Notes for using devices**
3865
3866 * LC and HSC are signed 32-bit data types;
3867 * T, C, D, R and SD are signed 16-bit data types.
3868
3869 **Variable type used**
3870
3871 |**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3872 |(% rowspan="8" %)(((
3873 MC _ SYNCMOVE
3874
3875 VELOCITY
3876 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3877 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3878 |Axis|(((
3879 WORD
3880
3881
3882 )))|No|[0,65535]|Axis number and built-in variable of axis
3883 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3884 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3885 |CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3886 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3887 |ErrorID|DWORD|Yes|-|(((
3888 Error code (Please refer to
3889
3890 [[8.11 Error Code>>path:#错误码对照表]]
3891 )))
3892
3893 **Function**
3894
3895 * 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.
3896 * 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;
3897 * 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;
3898 * 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;
3899 * The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3900
3901 **✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3902
3903
3904 **Error code**
3905
3906 |**Error code**|**Content**
3907 |4084H|Input data beyond the specifiable range
3908
3909 **Timing diagram**
3910
3911 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3912
3913
3914
3915
3916 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917
3918 MC _ SETTORQUE-Synchronous torque instruction
3919
3920 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3921
3922 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3923
3924 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3925 **Index**
3926
3927 **Modification**
3928 )))|(((
3929 **Pulse**
3930
3931 **Expansion**
3932 )))
3933 |**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**
3934 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3935 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3936 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3937 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3938 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3939 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3940 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3941 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3942 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3943 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3944 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3945
3946 **Notes for using devices**
3947
3948 * LC and HSC are signed 32-bit data types;
3949 * T, C, D, R and SD are signed 16-bit data types.
3950
3951 **Variable type used**
3952
3953 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3954 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3955 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3956 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3957 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3958 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3959 |Axis|WORD|No|[0,65535]|Axis number
3960 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3961 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3962 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3963 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3964 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3965 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3966
3967 **Function**
3968
3969 * 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.
3970 * The following PDOs need to be configured in CST mode;
3971
3972 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3973
3974 0x1A00: 0x6061, 0x6077, 0x6041
3975
3976 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3977 * 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;
3978 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3979 * 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;
3980
3981 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.
3982
3983 **Note**
3984
3985 * This function block is not available when the axis does not exist.
3986
3987
3988
3989
3990
3991
3992
3993
3994
3995
3996
3997
3998
3999
4000
4001
4002 **8.7.7 MC _ TORQUECONTROL**
4003
4004 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps9.png]]MC _ TORQUECONTROL-Torque control command
4005
4006 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps10.jpg]]
4007
4008 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4009
4010 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4011 **Index**
4012
4013 **Modification**
4014 )))|(((
4015 **Pulse**
4016
4017 **Expansion**
4018 )))
4019 |**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**
4020 |(% rowspan="13" %)(((
4021 MC _ TORQUE
4022
4023 CONTROL
4024 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4025 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4026 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4027 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4028 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4029 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4030 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4031 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4032 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4033 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4034 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4035 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4036 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4037
4038 **Notes for using devices**
4039
4040 * LC and HSC are signed 32-bit data types;
4041 * T, C, D, R and SD are signed 16-bit data types.
4042
4043 **Variable type used**
4044
4045 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4046 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4047 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4048 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4049 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4050 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4051 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4052 |Axis|WORD|No|[0,65535]|Axis number
4053 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4054 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4055 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4056 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4057 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4058 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4059
4060 **Function**
4061
4062 * 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.
4063 * The following PDOs need to be configured in CST mode:
4064
4065 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4066
4067 0x1A00: 0x6061, 0x6077, 0x6041
4068
4069 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4070
4071
4072
4073 **Function description**
4074
4075 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4076 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4077 * 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;
4078
4079 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;
4080
4081 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;
4082
4083 * Speed control in torque mode
4084
4085 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;
4086
4087 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;
4088
4089 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;
4090
4091 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4092
4093 The maximum speed of the servomotor can be limited by 0x607F;
4094
4095 0x607F can be configured into the PDO;
4096
4097 The unit of 0x607F is pulse unit, non-speed unit.
4098
4099 * Stop control on torque mode
4100
4101 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.
4102
4103 * Interrupt
4104
4105 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;
4106
4107 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4108
4109 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4110
4111 **Timing diagram**
4112
4113 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4114
4115 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4116
4117 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4118
4119 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4120
4121 == ==
4122
4123 == ==
4124
4125 == **SDO instruction** ==
4126
4127 ----
4128
4129 === **MC_READSDO reads SDO data** ===
4130
4131 ----
4132
4133 MC_READSDO
4134
4135 This instruction is used to read the value of the servo object dictionary.
4136
4137 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4138
4139 Content, range and data type
4140
4141 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4142 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4143 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4144 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4145 |(D1)|The read device|-|Define the size according to S3.|-
4146 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4147
4148 Device used
4149
4150 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4151 | | |**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**
4152 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4153 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4154 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4155 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4156 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4157
4158 Features
4159
4160 ▪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).
4161
4162 (% class="box infomessage" %)
4163 (((
4164 ✎Note:
4165
4166 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4167 )))
4168
4169
4170 === **MC_WRITESD0 writes SDO data** ===
4171
4172 ----
4173
4174 MC_WRITESDO
4175
4176 This instruction is used to write the value of the servo object dictionary.
4177
4178 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4179
4180 Content, range and data type
4181
4182 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4183 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4184 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4185 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4186 |(S4)|The value to be written|-|Define the size according to S3.|-
4187 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4188
4189 Device used
4190
4191 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4192 | | |**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**
4193 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4194 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4195 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4196 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4197 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4198
4199 Features
4200
4201 ▪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).
4202
4203 (% class="box infomessage" %)
4204 (((
4205 ✎Note:
4206
4207 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4208 )))
4209
4210 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4211
4212 == **Built-in variables of pulse axis system** ==
4213
4214 The current state of the axis can be monitored in the program by its system variables.
4215
4216
4217 |**Name**|**Data type**|**Function**
4218 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4219 |wAxisID|WORD|Axis number (Read only)
4220 |wVersion|WORD|Version number (Read only)
4221 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4222 |nEtherCATNo|DINT|EtherCAT axis number
4223 |nLocalID|DINT|(((
4224 Local axis ID.
4225
4226 Y0/Y1 is 0;
4227
4228 Y2/Y3 is 1;
4229
4230 Y4/Y5 is 2;
4231
4232 Y6/Y7 is 3.
4233 )))
4234 |bVirtualAxis|BOOL|Virtual axis or not
4235 |Cmd|AXIS_INFO_CMD_T| Setting value
4236 |fSetPosition|LREAL|Setting position (Read only)
4237 |fSetVelocity|LREAL|Setting speed (Read only)
4238 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4239 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4240 |fSetJerk|LREAL|Setting jerk (Read only)
4241 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4242 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4243 |Act|AXIS_INFO_ACT_T|Current value
4244 |fActPosition|LREAL|Current position (Read only)
4245 |fActVelocity|LREAL|Current speed (Read only)
4246 |fActAcceleration|LREAL|Actual acceleration (Read only)
4247 |fActDeceleration|LREAL|Actual deceleration (Read only)
4248 |fActJerk|LREAL|Actual jerk (Read only)
4249 |fActTorque|LREAL|(((
4250 Current torque (Read only)
4251
4252 Reserved
4253 )))
4254 |fFollowPos|LREAL|Following error (Read only)
4255 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4256 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4257 |Status|AXIS_INFO_STATUS_T|Axis status
4258 |wAxisState|WORD|Axis status (Read only)
4259
4260 |**Name**|**Data type**|**Function**
4261 |wAxisError|DWORD|Axis error code (Read only)
4262 |wMotionState|WORD|Motion status (Read only)
4263 |bPowerState|BOOL|Axis enabled status (Read only)
4264 |bphLimit|BOOL|Hardware positive limit (Read only)
4265 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4266 |bHomeState|BOOL|Homing limit (Read only)
4267 |bPsLimit|BOOL|Software positive limit (Read only)
4268 |bnsLimit|BOOL|Software reverse limit (Read only)
4269 |bTarDir|BOOL|Direction of motion (Read only)
4270 |Dbg|AXIS_DEBUG_T|Axis debugging information
4271 |bAxisDebug|BOOL|Axis debugging switch
4272 |bPower|BOOL|Axis enable
4273 |bStop|BOOL|Axis stop
4274 |bReset|BOOL|Axis reset
4275 |bJogP|BOOL|JOG+
4276 |bJopN|BOOL|JOG-
4277 |bHome|BOOL|Homing
4278 |bSetPos|BOOL|Set the current position
4279 |bAbsPos|BOOL|Absolute positioning
4280 |bRevPos|BOOL|Reciprocating motion:
4281 |bRelPos|BOOL|Relative positioning
4282 |bVelocity|BOOL|Continuous motion
4283 |bTorque|BOOL|(((
4284 Torque Mode
4285
4286 Reserved
4287 )))
4288 |fPresetPosition|LREAL|Preset position
4289 |fJogVelocity|LREAL|JOG speed
4290 |fPositionOffser|LREAL|Homing mode offset
4291 |fTarPosition|LREAL|Target position
4292 |fTarVelocity|LREAL|Target velocity
4293 |fTarAcceleration|LREAL|Target acceleration
4294 |fTarDeceleration|LREAL|Target deceleration
4295 |fTarJerk|LREAL|Target jerk
4296 |fTarPosition2|LREAL|Target position 2
4297
4298 |**Name**|**Data type**|**Function**
4299 |fTarVelocity2|LREAL|Target speed 2
4300 |fTarAcceleration2|LREAL|Target jerk 2
4301 |fTarDeceleration2|LREAL|Target deceleration 2
4302 |fTarJerk2|LREAL|Target jerk 2
4303 |fTarTorque|LREAL|(((
4304 Target torque
4305
4306 Reserved
4307 )))
4308 |fTarTorqueSlop|LREAL|(((
4309 Torque ramp
4310
4311 Reserved
4312 )))
4313 |fLimitVelocity|LREAL|(((
4314 Limit the speed.
4315
4316 Reserved
4317 )))
4318 |Pdo|AXIS_INFO_PDO_T|PDO information
4319 |wControlWord|WORD|Control word
4320 |wStatusWord|WORD|Status word
4321 |nSetPosition|DINT|Setting position
4322 |nActPosition|DINT|Current position
4323 |nSetVelocity|DINT|Setting speed
4324 |nActVelocity|DINT|Current speed
4325 |nSetTorque|DINT|(((
4326 Setting torque (Read only)
4327
4328 Reserved
4329 )))
4330 |nActTorque|DINT|(((
4331 Current torque
4332
4333 Reserved
4334 )))
4335 |nDO|DINT|(((
4336 Digital output
4337
4338 Reserved
4339 )))
4340 |nDI|DINT|(((
4341 Digital input
4342
4343 Reserved
4344 )))
4345 |wModesOfPperation|WORD|Control mode
4346 |wModesOfPperationDisplay|WORD|Current control mode
4347 |wTouchFunction|WORD|Touch probe function settings
4348 |wTouchStaus|WORD|Probe touch status
4349 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4350 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4351 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4352 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4353 |nMaxVelocity|DINT|(((
4354 Maximum velocity
4355
4356 Reserved
4357 )))
4358 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4359 |nEncoderMode|BYTE|Encoder model.
4360
4361 |**Name**|**Data type**|**Function**
4362 | | |(((
4363 0: Incremental mode
4364
4365 1: Absolute mode.
4366 )))
4367 |nModeSet|BYTE|(((
4368 Mode settings.
4369
4370 0: Linear mode
4371
4372 1: Rotation mode.
4373 )))
4374 |dRotatePeriod|LREAL|Rotation cycle
4375 |nSpeedADType|BYTE|(((
4376 Speed acceleration and deceleration type.
4377
4378 0: Default mode;
4379
4380 1: T-curve;
4381
4382 2: S-curve.
4383 )))
4384 |bEnSwLimit|BOOL|Whether to enable software limit
4385 |dSwPLimit|LREAL|Positive limit unit
4386 |dSwNLimit|LREAL|Reverse limit unit
4387 |dFollowThreShold|LREAL|Following error threshold Unit
4388 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4389 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4390 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4391 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4392 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4393 |bNoInErrorStop|BOOL|(((
4394 Don’t enter ErrorStop after hitting the limit
4395
4396 status.
4397
4398 Reserved
4399 )))
4400 |bHdPLimit|BOOL|(((
4401 Hardware positive limit
4402
4403 0: Positive logic;
4404
4405 1: Negative logic;
4406
4407 Reserved: Not in use yet.
4408 )))
4409 |bHdNLimit|BOOL|(((
4410 Hardware reverse limit (Read-only)
4411
4412 0: Positive logic;
4413
4414 1: Negative logic;
4415
4416 Reserved: Not in use yet.
4417 )))
4418 |bEnProbe1|BOOL|(((
4419 Touch probe 1 enable
4420
4421 Reserved
4422 )))
4423 |bEnProbe2|BOOL|(((
4424 Touch probe 2 enable
4425
4426 Reserved
4427 )))
4428 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4429 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4430 |nOutputWay|DWORD|(((
4431 Output mode
4432
4433 0: Pulse+Direction; 1: CW/CCW.
4434 )))
4435 |nCounterMode|DWORD|(((
4436 Counting mode
4437
4438 0: A/B phase 1 times frequency;
4439 )))
4440
4441 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4442 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4443 1: A/B phase 2 times frequency;
4444
4445 2: A/B phase 4 times frequency;
4446
4447 3: CW/CCW;
4448
4449 4: Pulse+Direction;
4450
4451 5: Single phase count.
4452 )))
4453 |(% style="width:187px" %)(((
4454
4455
4456
4457 nSignalSource
4458 )))|(% style="width:215px" %)(((
4459
4460
4461
4462 DWORD
4463 )))|(% style="width:361px" %)(((
4464 Signal source
4465
4466 0: X0-Phase A;
4467
4468 1: X1-Phase B;
4469
4470 2: X2-Phase A;
4471
4472 3: X3-Phase B.
4473 )))
4474 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4475 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4476 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4477 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4478 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4479 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4480 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4481 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4482 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4483 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4484 Homing signal
4485
4486 0: Not assigned;
4487
4488 1: Not used;
4489
4490 2: In use.
4491 )))
4492 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4493 Z signal.
4494
4495 0: Not assigned;
4496
4497 1: Not used;
4498
4499 2: In use.
4500 )))
4501 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4502 Positive limit
4503
4504 0: Not assigned;
4505
4506 1: Not used;
4507
4508 2: In use.
4509 )))
4510 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4511 Negative limit
4512
4513 0: Not assigned;
4514
4515 1: Not used;
4516
4517 2: In use.
4518 )))
4519 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4520 Homing direction:
4521
4522 0: Not assigned;
4523
4524 1: Forward;
4525
4526 2: Reverse
4527 )))
4528 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4529 Enter the detection direction.
4530
4531 0: Not assigned;
4532 )))
4533
4534 |**Name**|**Data type**|**Function**
4535 | | |(((
4536 0: Positive
4537
4538 2: Reverse
4539 )))
4540 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4541 |(((
4542
4543
4544 nReturnZero
4545 )))|(((
4546
4547
4548 BYTE
4549 )))|(((
4550 Homing mode
4551
4552 0: Absolute homing 1: Relative homing.
4553 )))
4554 |dReturnSpeed|LREAL|Homing speed Unit/s
4555 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4556 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4557 |nReturnTimeOut|DINT|Homing overtime time ms
4558 |bEnPLimit|BOOL|Positive limit enables
4559 |bEnNLimit|BOOL|Negative limit enable
4560 |bEnSignalLimit|BOOL|Homing signal enable
4561 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4562 Positive limit address X0~~X1023.
4563
4564 (The local pulse axis currently only supports hardware limit X0-X7)
4565 )))
4566 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4567 Reverse limit address X0~~X1023.
4568
4569 (The local pulse axis currently only supports hardware limit X0-X7)
4570 )))
4571 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4572 Homing signal address X0 to X1023
4573
4574 (The local pulse axis currently only supports hardware limit X0-X7)
4575 )))
4576 |nPLimitLogic|BOOL|(((
4577 Forward limit logic
4578
4579 0: Forward logic;
4580
4581 1: Reverse logic.
4582 )))
4583 |nNLimitLogic|BOOL|(((
4584 Negative limit logic.
4585
4586 0: Positive logic;
4587
4588 1: Negative logic.
4589 )))
4590 |nSignalLogic|BOOL|(((
4591 Homing signal logic
4592
4593 0: Positive logic;
4594
4595 1: Negative logic.
4596 )))
4597 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4598 |bReverse|BOOL|Reverse or not
4599 |bEnGearBox|BOOL|Enable gearbox
4600 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4601 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4602 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4603 |nGearRatioM|INT|Gear ratio molecule
4604 |nGearRatioD|INT|Gear ratio denominator
4605
4606 == **Others** ==
4607
4608 ----
4609
4610 === **Single axis motion control status diagram** ===
4611
4612 ----
4613
4614 (% style="text-align:center" %)
4615 [[image:1709016272018-406.png||height="669" width="631"]]
4616
4617 === **Axis group motion control status diagram** ===
4618
4619 ----
4620
4621 (% style="text-align:center" %)
4622 [[image:1709016323709-202.png]]
4623
4624
4625 === **Arc mode description** ===
4626
4627 ----
4628
4629 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4630 |(((
4631
4632
4633
4634 Features
4635 )))|(((
4636 The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4637
4638
4639 )))|(((
4640
4641
4642 The auxiliary point is defined as the center of the motion trajectory, so the auxiliary point should be on the perpendicular line connecting the starting point and the ending point.
4643
4644
4645
4646 )))|(((
4647 According to the right-hand grip rule, the ending point and the vector perpendicular to the plane of the circle are defined, and the length of the vector corresponds to the radius of the circle.
4648
4649 The direction of the vector determines the direction of CW and CCW circles.
4650
4651 The major arc and minor arc are determined by path choice.
4652 )))
4653 |(((
4654
4655
4656
4657 Description
4658 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4659 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4660 |(((
4661
4662
4663 Path choice
4664 )))|Invalid|(((
4665 CW and CCW circles
4666
4667 CCW mode
4668
4669 CW mode
4670 )))|(((
4671 Major and minor arcs
4672
4673 1: Minor arc
4674
4675 0: Major arc
4676 )))
4677 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4678 Restriction of angle less than 2π for single instruction
4679
4680 The vector perpendicular to the circular plane must be calculated.
4681 )))
4682
4683 === **Transition mode description** ===
4684
4685 ----
4686
4687 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4688
4689 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4690 |TransitionParameter|Invalid|Invalid|Specified velocity
4691
4692 === **Mode selection instructions** ===
4693
4694 ----
4695
4696 [[image:1709016491129-791.png]]
4697
4698 (% style="width:659px" %)
4699 |=(% style="width: 656px;" %)**Caution**
4700 |(% style="width:656px" %)(((
4701 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;
4702
4703 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.
4704
4705 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!
4706 )))
4707
4708 (1) mcAborting
4709
4710 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.
4711
4712 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.
4713
4714 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4715
4716 Figure8-1
4717
4718 (% style="text-align:center" %)
4719 [[image:1709016579583-740.png]]
4720
4721
4722 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4723
4724 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.
4725
4726 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.
4727
4728 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
4729
4730 Axis position is 1000u.
4731
4732 Figure8-2 The sequence diagram of normal working condition and mcAborting
4733
4734 (% style="text-align:center" %)
4735 [[image:1709016808830-880.png]]
4736
4737
4738 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.
4739
4740 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
4741
4742 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.
4743
4744 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.
4745
4746 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.
4747
4748 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.
4749
4750 This buffer mode is called mcAborting.
4751
4752 (2) mcBuffered
4753
4754 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.
4755
4756 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.
4757
4758 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.
4759
4760 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.
4761
4762 Figure8-3 Connections in mcBuffered
4763
4764 (% style="text-align:center" %)
4765 [[image:1709016841335-589.png]]
4766
4767 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.
4768
4769 and Done_1 is set, the work of the next function block will start immediately.
4770
4771 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.
4772
4773 Figure 8-4
4774
4775 (% style="text-align:center" %)
4776 [[image:1709016882878-958.png]]
4777
4778 mcBlending
4779
4780 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.
4781
4782 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.
4783
4784 Therefore, the mcBlending is divided into four types.
4785
4786 (1) mcBlendingLow.
4787
4788 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.
4789
4790 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.
4791
4792 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.
4793
4794 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
4795
4796 Figure 8-5 The connection of mcBlendingLow
4797
4798 (% style="text-align:center" %)
4799 [[image:1709016915405-788.png]]
4800
4801
4802 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.
4803
4804 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
4805
4806 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.
4807
4808 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
4809
4810 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.
4811
4812 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.
4813
4814 Figure 8-6 The sequence diagram of mcBlendingLow
4815
4816 (% style="text-align:center" %)
4817 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
4818
4819 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.
4820
4821 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
4822
4823 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.
4824
4825 mcBlendingPrevious
4826
4827 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.
4828
4829 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
4830
4831 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.
4832
4833 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.
4834
4835 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.
4836
4837 Figure 8-7 Sequence diagram of mcBlendingPrevious
4838
4839 (% style="text-align:center" %)
4840 [[image:1709017101626-838.png]]
4841
4842 mcBlendingNext
4843
4844 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.
4845
4846 Figure 8-8 shows the timing diagram of the mcBlendingNext.
4847
4848 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,
4849
4850 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.
4851
4852 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.
4853
4854 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.
4855
4856 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.
4857
4858 == **Error Code Cross-reference Table** ==
4859
4860 ----
4861
4862 |=**Error Code**|=**Error Definition**|=**Interpretation**
4863 |(% colspan="3" %)**Normal**
4864 |0x00|MC_ERROR_ID_SUCCESS|No error
4865 |(% colspan="3" %)**Run-time error**
4866 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
4867 Not feasible to compute
4868
4869 S-curve
4870 )))
4871 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
4872 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
4873 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
4874 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
4875 |(% colspan="3" %)**PLCOpen State-machine error**
4876 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
4877 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
4878 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
4879 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
4880 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
4881 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
4882 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
4883 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
4884 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
4885 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
4886 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
4887 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
4888 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
4889 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
4890 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
4891 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
4892 |(% colspan="3" %)**Error due to user/system limitations**
4893 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
4894 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
4895 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
4896 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
4897 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
4898 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
4899 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
4900 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
4901 |(% colspan="3" %)**Error Stop**
4902 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
4903 |(% colspan="3" %)**Error from servo**
4904 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
4905 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
4906 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
4907 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
4908 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
4909 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
4910 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
4911 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
4912 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
4913 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
4914 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
4915 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
4916 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
4917 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
4918 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
4919 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
4920 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
4921 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
4922 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
4923 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
4924 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
4925 |(% colspan="3" %)**Axis’s error**
4926 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
4927 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
4928 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
4929 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
4930 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
4931 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
4932 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
4933 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
4934 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
4935 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
4936 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
4937 |0x0070000B|(((
4938 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
4939
4940 N
4941 )))|(((
4942 Axis can't combine while
4943
4944 running
4945 )))
4946 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
4947 |(% colspan="3" %)**General FB error**
4948 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
4949 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
4950 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
4951 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
4952 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
4953 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
4954 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
4955 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
4956 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
4957 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
4958 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
4959 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
4960 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
4961 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
4962 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
4963 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
4964 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
4965 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
4966 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
4967 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
4968 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
4969 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
4970 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
4971 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
4972 |(% colspan="3" %)**General axis group error**
4973 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
4974 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
4975 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
4976 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
4977 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
4978 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
4979 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
4980 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
4981 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
4982 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
4983 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
4984 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
4985 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
4986 |(% colspan="3" %)**Single axis planner error**
4987 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
4988 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
4989 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
4990 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
4991 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
4992 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
4993 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
4994 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
4995 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
4996 |(% colspan="3" %)**Axis group planner error**
4997 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
4998 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
4999 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5000 |(% colspan="3" %)**ECAM or EGEAR error**
5001 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5002 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5003 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5004 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5005 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5006 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5007 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5008 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5009 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5010 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5011 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5012 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5013 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5014 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5015 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5016 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5017 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5018 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5019 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5020 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5021 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5022 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5023
5024