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Wiki source code of 08 Motion Control

Version 3.1 by Iris on 2025/10/21 16:00
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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
2204 == **Management functions of axis group motion control** ==
2205
2206 ----
2207
2208 === **MC_ADDAXISTOGROUP** ===
2209
2210 ----
2211
2212 MC_ADDAXISTOGROUP
2213
2214 (% style="text-align:center" %)
2215 [[image:1708999788060-281.png||_mstalt="297531"]]
2216
2217 The function block is to add axis to axis group.
2218
2219 Device used (Only a single device can be used, and device splicing and index are not supported)
2220
2221 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2222 | | |**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**
2223 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2224 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2225 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2226 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2227 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2228 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2229 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2230
2231 Precautions for use of devices
2232
2233 ▪LC and HSC are signed 32-bit data types;
2234
2235 ▪T, C, D, R and SD are signed 16-bit data types;
2236
2237 Variable type used
2238
2239 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2240 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2241 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2242 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2243 |Axis|WORD|No|[0 to 65535]|Axis number
2244 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2245 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2246 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2247 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2248
2249 Features
2250
2251 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2252
2253 ▪IndentInGroup is a flag of the adding axis order to axis group.
2254
2255 (% class="box infomessage" %)
2256 (((
2257 ✎Note:
2258
2259 ▪If the serial number of the axis group does not exist, an error will be reported;
2260
2261 ▪When the axis group is enabled, an error will be reported when add new axis;
2262
2263 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2264 )))
2265
2266 Error code
2267
2268 |=**Error code**|=**Content**
2269 |4084H|Data beyond the specifiable range was input.
2270
2271 (% style="font-size:14px" %)Sequence diagram
2272
2273 (% style="text-align:center" %)
2274 [[image:1709000371923-181.png||_mstalt="292591"]]
2275
2276 === **MC_REMOVEAXISFROMGROUP** ===
2277
2278 ----
2279
2280 MC_REMOVEAXISFROMGROUP
2281
2282 (% style="text-align:center" %)
2283 [[image:1709000436811-846.png||_mstalt="294346"]]
2284
2285 This function block removes axis from an axis group.
2286
2287 Device used (Only a single device can be used, and device splicing and index are not supported)
2288
2289 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2290 | | |**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**
2291 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2292 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2293 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2294 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2295 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2296 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2297 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2298
2299 Precautions for use of devices
2300
2301 ▪LC and HSC are signed 32-bit data types;
2302
2303 ▪T, C, D, R and SD are signed 16-bit data types;
2304
2305 Variable type used
2306
2307 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2308 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2309 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2310 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2311 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2312 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2313 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2314 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2315
2316 Features
2317
2318 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2319
2320 (% class="box infomessage" %)
2321 (((
2322 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2323
2324 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2325
2326 ▪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.
2327 )))
2328
2329 Error code
2330
2331 |=**Error code**|=**Content**
2332 |4084H|Data beyond the specifiable range was input.
2333
2334 Sequence diagram
2335
2336 (% style="text-align:center" %)
2337 [[image:1709000691345-890.png||_mstalt="295061"]]
2338
2339 === **MC_UNGROUPALLAXES** ===
2340
2341 ----
2342
2343 MC_UNGROUPALLAXES
2344
2345 (% style="text-align:center" %)
2346 [[image:1709000738471-185.png||_mstalt="294762"]]
2347
2348 This function block removes all the axes from an axis group.
2349
2350 Device used (Only a single device can be used, and device splicing and index are not supported)
2351
2352 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2353 | | |**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**
2354 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2355 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2356 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2357 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2358 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2359 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2360
2361 Precautions for use of devices
2362
2363 ▪LC and HSC are signed 32-bit data types;
2364
2365 ▪T, C, D, R and SD are signed 16-bit data types;
2366
2367 Variable type used
2368
2369 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2370 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2371 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2372 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2373 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2374 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2375 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2376
2377 Features
2378
2379 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2380
2381 (% class="box infomessage" %)
2382 (((
2383 ✎Note:
2384
2385 ▪If the serial number of the axis group does not exist, an error will be reported;
2386
2387 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2388 )))
2389
2390 Error code
2391
2392 |=**Error code**|=**Content**
2393 |4084H|Input data beyond the specifiable range
2394
2395 (% style="font-size:14px" %)Sequence diagram
2396
2397 (% style="text-align:center" %)
2398 [[image:1709001126146-829.png||_mstalt="294489"]]
2399
2400 === **MC_GROUPENABLE** ===
2401
2402 ----
2403
2404 MC_GROUPENABLE
2405
2406 (% style="text-align:center" %)
2407 [[image:1709001201497-541.png||_mstalt="292682"]]
2408
2409
2410 The function block is axis group enabled.
2411
2412 Device used (Only a single device can be used, and device splicing and index are not supported)
2413
2414 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2415 | | |**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**
2416 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2417 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2418 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2419 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2420 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2421 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2422
2423 Precautions for use of devices
2424
2425 ▪LC and HSC are signed 32-bit data types;
2426
2427 ▪T, C, D, R and SD are signed 16-bit data types.
2428
2429 Variable type used
2430
2431 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2432 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2433 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2434 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2435 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2436 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2437 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2438
2439 Features
2440
2441 ▪Enable axis group to run on the Execute rising edge.
2442
2443 (% class="box infomessage" %)
2444 (((
2445 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2446
2447 ▪When a single axis is running, enabling this block will report an error.
2448 )))
2449
2450 Error code
2451
2452 |=**Error code**|=**Content**
2453 |4084H|Input data beyond the specifiable range
2454
2455 === **MC_GROUPDISABLE** ===
2456
2457 ----
2458
2459 MC_GROUPDISABLE
2460
2461 (% style="text-align:center" %)
2462 [[image:1709001439118-784.png||_mstalt="295594"]]
2463
2464 This function block is axis group disabled.
2465
2466 Device used (Only a single device can be used, an d device splicing and index are not supported)
2467
2468 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2469 | | |**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**
2470 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2471 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2472 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2473 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2474 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2475 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2476
2477 Precautions for use of devices
2478
2479 ▪LC and HSC are signed 32-bit data types;
2480
2481 ▪T, C, D, R and SD are signed 16-bit data types.
2482
2483 Variable type used
2484
2485 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2486 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2487 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2488 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2489 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2490 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2491 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2492
2493 Features
2494
2495 ▪On the Execute rising edge, disable the axis group.
2496
2497 (% class="box infomessage" %)
2498 (((
2499 ✎Note:
2500
2501 ▪Single axis operation can only be executed when the group is disabled.
2502
2503 ▪When a single axis is running, disabling this block will report an error.
2504 )))
2505
2506 Error code
2507
2508 |=**Error code**|=**Content**
2509 |4084H|Input data beyond the specifiable range
2510
2511 === **MC_GROUPREDACTUALPOSITION** ===
2512
2513 ----
2514
2515 MC_GROUPREADACTUALPOSITION
2516
2517 (% style="text-align:center" %)
2518 [[image:1709001728776-330.png||_mstalt="294255"]]
2519
2520 This function block is to read the actual position of each axis from the axis group.
2521
2522 Device used (Only a single device can be used, and device splicing and index are not supported)
2523
2524 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2525 | | |**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**
2526 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2527 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2528 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2529 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2530 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2531 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2532 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2533 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2534
2535 Precautions for use of devices
2536
2537 ▪LC and HSC are signed 32-bit data types;
2538
2539 ▪T, C, D, R and SD are signed 16-bit data types.
2540
2541 Variable type used
2542
2543 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2544 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2545 |CoordSystem|WORD|Yes|0|Coordinate system
2546 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2547 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2548 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2549 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2550 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2551 |Position|LREAL array|Yes| |Position
2552
2553 Features
2554
2555 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2556
2557 Error code
2558
2559 |=**Error code**|=**Content**
2560 |4084H|Input data beyond the specifiable range
2561
2562 === **MC_GROUPREADACTUALVELOCITY** ===
2563
2564 ----
2565
2566 MC_GROUPREADACTUALVELOCITY
2567
2568 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2569 (((
2570 (% data-widget="image" style="text-align: center;" %)
2571 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2572
2573 (% 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"]]
2574 )))
2575
2576 This function block is to read the actual velocity of each axis from the axis group.
2577
2578 Device used (Only a single device can be used, and device splicing and index are not supported)
2579
2580 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2581 | | |**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**
2582 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2583 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2584 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2585 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2586 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2587 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2588 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2589 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2590 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2591
2592 Precautions for use of devices
2593
2594 ▪LC and HSC are signed 32-bit data types;
2595
2596 ▪T, C, D, R and SD are signed 16-bit data types;
2597
2598 Variable type used
2599
2600
2601 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2602 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2603 |CoordSystem|WORD|Yes|0|Coordinate system
2604 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2605 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2606 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2607 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2608 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2609 |Velocity|LREAL array|Yes| |Velocity
2610 |PathVelocity|LREAL|Yes| |Path velocity
2611
2612 Features
2613
2614 * (((
2615 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.
2616 )))
2617
2618 Error code
2619
2620 |=**Error code**|=**Content**
2621 |4084H|Data beyond the specifiable range was input.
2622
2623 === **MC_GROUPREADERROR** ===
2624
2625 ----
2626
2627 MC_GROUPREADERROR
2628
2629 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2630 (((
2631 (% data-widget="image" style="text-align: center;" %)
2632 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2633
2634 (% 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"]]
2635 )))
2636
2637
2638 The function block is axis group to read error.
2639
2640 Device used (Only a single device can be used, and device splicing and index are not supported)
2641
2642 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2643 | | |**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**
2644 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2645 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2646 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2647 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2648 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2649 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2650 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2651
2652 Precautions for use of devices
2653
2654 ▪LC and HSC are signed 32-bit data types;
2655
2656 ▪T, C, D, R and SD are signed 16-bit data types;
2657
2658 Variable type used
2659
2660 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2661 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2662 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2663 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2664 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2665 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2666 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2667 |GroupErrorID|DWROD|Yes| |Axis group error code
2668
2669 Features
2670
2671 ▪When Enable= true, read the axis group error status.
2672
2673 Error code
2674
2675 |=**Error code**|=**Content**
2676 |4084H|Input data beyond the specifiable range
2677
2678 === **MC_GROUPREADSTATUS** ===
2679
2680 ----
2681
2682 MC_GROUPREADSTATUS
2683
2684 (% style="text-align:center" %)
2685 [[image:1709002503132-985.png||_mstalt="293943"]]
2686
2687 This function block reads the status of the currently activated axis group.
2688
2689 Device used (Only a single device can be used, and device splicing and index are not supported)
2690
2691 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2692 | | |**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**
2693 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2694 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2695 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2696 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2697 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2698 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2699 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2700
2701 Precautions for use of devices
2702
2703 ▪LC and HSC are signed 32-bit data types;
2704
2705 ▪T, C, D, R and SD are signed 16-bit data types;
2706
2707 Variable type used
2708
2709 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2710 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2711 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2712 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2713 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2714 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2715 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2716 |GroupErrorID|DWROD|Yes| |Axis group error code
2717
2718 Features
2719
2720 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2721
2722 ▪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.
2723
2724 ▪ InPosition is set to ON when reach the target position.
2725
2726 Error code
2727
2728 |=**Error code**|=**Content**
2729 |4084H|Input data beyond the specifiable range
2730
2731 === **MC_GROUPRESET** ===
2732
2733 ----
2734
2735 MC_GROUPRESET
2736
2737 (% style="text-align:center" %)
2738 [[image:1709002711461-974.png||_mstalt="294619"]]
2739
2740
2741 The function block is axis group reset.
2742
2743 Device used (Only a single device can be used, and device splicing and index are not supported)
2744
2745 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2746 | | |**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**
2747 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2748 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2749 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2750 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2751 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2752 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2753
2754 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2755 Precautions for use of devices
2756
2757 ▪LC and HSC are signed 32-bit data types;
2758
2759 ▪T, C, D, R and SD are signed 16-bit data types.
2760
2761 (% class="wikigeneratedid" id="HVariabletypeused" %)
2762 Variable type used
2763
2764 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2765 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2766 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2767 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2768 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2769 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2770 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2771
2772 Features
2773
2774 ▪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.
2775
2776 Error code
2777
2778 |=**Error code**|=**Content**
2779 |4084H|Input data beyond the specifiable range
2780
2781 === **MC_GROUPREADACTUALACCELERATION** ===
2782
2783 ----
2784
2785 MC_GROUPREADACTUALACCELERATION
2786
2787 (% style="text-align:center" %)
2788 [[image:1709002873108-663.png||_mstalt="294645"]]
2789
2790 This function block is to read the actual acceleration of each axis from the axis group.
2791
2792 Device used (Only a single device can be used, and device splicing and index are not supported)
2793
2794 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2795 | | |**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**
2796 |(% colspan="1" rowspan="9" %)(((
2797 MC_GROUPREADACTUALACCELERATION
2798
2799
2800 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2801 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2802 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2803 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2804 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2805 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2806 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2807 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2808 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2809
2810 Precautions for use of devices
2811
2812 ▪LC and HSC are signed 32-bit data types;
2813
2814 ▪T, C, D, R and SD are signed 16-bit data types;
2815
2816 Variable type used
2817
2818 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2819 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2820 |CoordSystem|WORD|Yes|0|Coordinate system
2821 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2822 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2823 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2824 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2825 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2826 |Acceleration|LREAL array|Yes| |Acceleration
2827 |PathAcceleration|LREAL|Yes| |Path acceleration
2828
2829 Features
2830
2831 ▪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.
2832
2833 Error code
2834
2835 |=**Error code**|=**Content**
2836 |4084H|Data beyond the specifiable range was input.
2837
2838 == **Axis group motion Function Blocks** ==
2839
2840 ----
2841
2842 === **MC_GROUPSTOP** ===
2843
2844 ----
2845
2846 MC_GROUPSTOP
2847
2848 (% style="text-align:center" %)
2849 [[image:1709003200997-104.png||_mstalt="292578"]]
2850
2851
2852 The function block is use to stop axis group.
2853
2854 Device used (Only a single device can be used, and device splicing and index are not supported)
2855
2856 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2857 | | |**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**
2858 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2859 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2860 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2861 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2862 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2863 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2864 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2865 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2866 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2867 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2868
2869 Precautions for use of devices
2870
2871 ▪LC and HSC are signed 32-bit data types;
2872
2873 ▪T, C, D, R and SD are signed 16-bit data types;
2874
2875 Variable type used
2876
2877 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2878 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2879 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2880 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2881 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2882 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2883 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2884 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2885 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2886 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2887 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2888
2889 Features
2890
2891 ▪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.
2892
2893 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2894
2895 ▪Only MC_GroupDisable can be used to interrupt axis group.
2896
2897 Error code
2898
2899 |=**Error code**|=**Content**
2900 |4084H|Input data beyond the specifiable range
2901
2902 === **MC_GROUPHALT** ===
2903
2904 ----
2905
2906 MC_GROUPHALT
2907
2908 (% style="text-align:center" %)
2909 [[image:1709003451573-543.png||_mstalt="293722"]]
2910
2911 The function block is to halt axis group.
2912
2913 Device used (Only a single device can be used, and device splicing and index are not supported)
2914
2915 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2916 | | |**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**
2917 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2918 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2919 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2920 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2921 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2922 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2923 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2924 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2925 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2926 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2927
2928 Precautions for use of devices
2929
2930 ▪LC and HSC are signed 32-bit data types;
2931
2932 ▪T, C, D, R and SD are signed 16-bit data types;
2933
2934 Variable type used
2935
2936 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2937 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2938 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2939 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2940 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2941 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2942 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2943 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2944 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2945 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2946 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2947
2948 Features
2949
2950 ▪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;
2951
2952 ▪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.
2953
2954 Error code
2955
2956 |=**Error code**|=**Content**
2957 |4084H|Data beyond the specifiable range was input.
2958
2959 === **MC_MOVELINEARABSOLUTE** ===
2960
2961 ----
2962
2963 MC_MOVELINEARABSOLUTE
2964
2965 (% style="text-align:center" %)
2966 [[image:1709003761756-581.png||_mstalt="295724"]]
2967
2968 This function block is absolute position linear interpolation.
2969
2970 Device used (Only a single device can be used, and device splicing and index are not supported)
2971
2972 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2973 | | |**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**
2974 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2975 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2976 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2977 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2978 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2979 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2980 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2981 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2982 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2983 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2984 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2985 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2986 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2987 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2988 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2989 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2990 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2991
2992 Precautions for use of devices
2993
2994 ▪LC and HSC are signed 32-bit data types;
2995
2996 ▪T, C, D, R and SD are signed 16-bit data types;
2997 Variable type used
2998
2999 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3000 |(% rowspan="17" %)(((
3001 MC_MOVELINEARABSOLUTE
3002 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3003 |Position|LREAL array|No|-|Position
3004 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3005 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3006 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3007 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3008 |CoordSystem|WORD|Yes|0|Coordinate system
3009 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3010 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3011 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3012 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3013 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3014 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3015 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3016 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3017 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3018 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3019
3020 Features
3021
3022 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3023
3024 (% class="box infomessage" %)
3025 (((
3026 ✎Note:
3027
3028 ▪The axis group can be moved only when being enabled;
3029
3030 ▪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.
3031
3032 ▪Linear motion is allowed to be interrupted;
3033
3034 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3035 )))
3036
3037 Error code
3038
3039 |=**Error code**|=**Content**
3040 |4084H|Input data beyond the specifiable range
3041
3042 (% style="text-align:center" %)
3043 [[image:1709004126151-658.png||_mstalt="294008"]]
3044
3045 === **MC_MOVELINEARRELATIVE** ===
3046
3047 ----
3048
3049 MC_MOVELINEARRELATIVE
3050
3051 (% style="text-align:center" %)
3052 [[image:1709004271451-886.png||_mstalt="295594"]]
3053
3054
3055 This function block is relative position linear interpolation.
3056
3057 Device used (Only a single device can be used, and device splicing and index are not supported)
3058
3059 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3060 | | |**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**
3061 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3062 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3063 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3064 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3065 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3066 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3067 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3068 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3069 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3070 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3071 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3072 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3078
3079 Precautions for use of devices
3080
3081 ▪LC and HSC are signed 32-bit data types;
3082
3083 ▪T, C, D, R and SD are signed 16-bit data types.
3084
3085 Variable type used
3086
3087 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3088 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3089 |Distance|LREAL array|No|-|Position
3090 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3091 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3092 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3093 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3094 |CoordSystem|WORD|Yes|-|Coordinate system
3095 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3096 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3097 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3098 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3099 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3100 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3101 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3102 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3103 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3104 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3105
3106 Features
3107
3108 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3109
3110 (% class="box infomessage" %)
3111 (((
3112 ✎Note:▪The axis group can be moved only when being enabled;
3113
3114 ▪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.
3115
3116 ▪Linear motion is allowed to be interrupted;
3117
3118 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3119 )))
3120
3121 Error code
3122
3123 |=**Error code**|=**Content**
3124 |4084H|Input data beyond the specifiable range
3125
3126 (% style="text-align:center" %)
3127 [[image:1709004561796-657.png||_mstalt="297674"]]
3128
3129 === **MC_MOVECIRCULARABSOLUTE** ===
3130
3131 ----
3132
3133 MC_MOVECIRCULARABSOLUTE
3134
3135 (% style="text-align:center" %)
3136 [[image:1709004628989-926.png||_mstalt="299143"]]
3137
3138 The function block is absolute position circular interpolation.
3139
3140 Device used (Only a single device can be used, and device splicing and index are not supported)
3141
3142 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3143 | | |**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**
3144 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3145 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3146 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3147 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3148 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3149 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3150 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3151 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3152 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3153 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3154 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3155 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3156 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3157 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3158 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3159 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3160 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3161 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3162 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3163 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3164
3165 Precautions for use of devices
3166
3167 ▪LC and HSC are signed 32-bit data types;
3168
3169 ▪T, C, D, R and SD are signed 16-bit data types;
3170 Variable type used
3171
3172 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3173 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3174 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3175 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3176 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3177 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3178 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3179 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3180 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3181 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3182 |CoordSystem|WORD|Yes|0|Coordinate system
3183 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3184 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3185 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3186 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3187 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3188 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3189 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3190 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3191 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3192 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3193
3194 Features
3195
3196 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3197
3198 (% class="box infomessage" %)
3199 (((
3200 ✎Note**:**
3201
3202 ▪The axis group can be moved only when being enabled;
3203
3204 ▪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.
3205
3206 ▪Linear motion is allowed to be interrupted;
3207
3208 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3209 )))
3210
3211 Error code
3212
3213 |=**Error code**|=**Content**
3214 |4084H|Input data beyond the specifiable range
3215
3216 (% style="text-align:center" %)
3217 [[image:1709005028485-788.png||_mstalt="297895"]]
3218
3219 === **MC_MOVECIRCULARRELATIVE** ===
3220
3221 ----
3222
3223 MC_MOVECIRCULARRELATIVE
3224
3225 (% style="text-align:center" %)
3226 [[image:1709005280026-492.png||_mstalt="293397"]]
3227
3228 Device used (Only a single device can be used, and device splicing and index are not supported)
3229
3230 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3231 | | |**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**
3232 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3233 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3234 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3235 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3236 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3237 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3238 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3239 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3240 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3241 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3242 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3243 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3244 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3245 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3246 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3247 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3248 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3249 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3250 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3251 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3252
3253 Precautions for use of devices
3254
3255 ▪LC and HSC are signed 32-bit data types;
3256
3257 ▪T, C, D, R and SD are signed 16-bit data types;
3258
3259 Variable type used
3260
3261 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3262 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3263 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3264 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3265 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3266 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3267 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3268 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3269 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3270 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3271 |CoordSystem|WORD|Yes|-|Coordinate system
3272 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3273 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3274 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3275 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3276 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3277 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3278 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3279 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3280 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3281 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3282
3283 Features
3284
3285 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3286
3287 (% class="box infomessage" %)
3288 (((
3289 ✎Note:
3290
3291 ▪The axis group can be moved only when being enabled;
3292
3293 ▪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.
3294
3295 ▪Linear motion is allowed to be interrupted;
3296
3297 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3298 )))
3299
3300 Error code
3301
3302 |=**Error code**|=**Content**
3303 |4084H|Input data beyond the specifiable range
3304
3305 (% style="text-align:center" %)
3306 [[image:1709005752944-678.png||_mstalt="297869"]]
3307
3308 === **MC_MOVEDIRECTABSOLUTE** ===
3309
3310 ----
3311
3312 MC_MOVEDIRECTABSOLUTE
3313
3314 (% style="text-align:center" %)
3315 [[image:1709012205292-858.png||_mstalt="295360"]]
3316
3317 This function block is the fast positioning of absolute position.
3318
3319 Device used (Only a single device can be used, and device splicing and index are not supported)
3320
3321 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3322 | | |**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**
3323 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3324 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3325 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3326 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3327 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3328 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3329 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3330 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3331 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3332 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3333 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3334 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3335 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3336
3337 Precautions for use of devices
3338
3339 ▪LC and HSC are signed 32-bit data types;
3340
3341 ▪T, C, D, R and SD are signed 16-bit data types;
3342
3343 Variable type used
3344
3345 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3346 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3347 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3348 |CoordSystem|WORD|Yes|0|Coordinate system
3349 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3350 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3351 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3352 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3353 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3354 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3355 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3356 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3357 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3358 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3359
3360 Features
3361
3362 ▪ 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;
3363
3364 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3365
3366 (% class="box infomessage" %)
3367 (((
3368 ✎Note:
3369
3370 ▪The axis group can be moved only when being enabled;
3371
3372 ▪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.
3373
3374 ▪Linear motion is allowed to be interrupted;
3375
3376 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3377
3378 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3379 )))
3380
3381 Error code
3382
3383 |=**Error code**|=**Content**
3384 |4084H|Data beyond the specifiable range was input.
3385
3386 (% style="text-align:center" %)
3387 [[image:1709012383461-841.png||_mstalt="293800"]]
3388
3389 === **MC_MOVEDIRECTRELATIVE** ===
3390
3391 ----
3392
3393 MC_MOVEDIRECTRELATIVE
3394
3395 (% style="text-align:center" %)
3396 [[image:1709012442595-305.png||_mstalt="293592"]]
3397
3398 The function block executes the fast positioning of the relative position.
3399
3400 Device used (Only a single device can be used, and device splicing and index are not supported)
3401
3402 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3403 | | |**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**
3404 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3405 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3406 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3407 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3408 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3409 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3410 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3411 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3412 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3413 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3414 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3415 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3416 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3417
3418 Precautions for use of devices
3419
3420 ▪LC and HSC are signed 32-bit data types;
3421
3422 ▪T, C, D, R and SD are signed 16-bit data types;
3423
3424 Variable type used
3425
3426 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3427 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3428 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3429 |CoordSystem|WORD|Yes|0|Coordinate system
3430 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3431 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3432 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3433 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3434 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3435 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3436 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3437 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3438 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3439 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3440
3441 Features
3442
3443 ▪ 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;
3444
3445 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3446
3447 (% class="box infomessage" %)
3448 (((
3449 ✎Note:
3450
3451 ▪The axis group can be moved only when being enabled;
3452
3453 ▪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.
3454
3455 ▪Linear motion is allowed to be interrupted;
3456
3457 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3458
3459 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3460 )))
3461
3462 Error code
3463
3464 |=**Error code**|=**Content**
3465 |4084H|Input data beyond the specifiable range
3466
3467 (% style="text-align:center" %)
3468 [[image:1709012732094-708.png||_mstalt="294580"]]
3469
3470 == **Other special FB** ==
3471
3472 ----
3473
3474 === **MC_MOVEJOG** ===
3475
3476 ----
3477
3478 MC_MOVEJOG
3479
3480 (% style="text-align:center" %)
3481 [[image:1709014222028-861.png||_mstalt="293059"]]
3482
3483 The function block makes the controlled axis execute micro motion at the set target velocity.
3484
3485 Device used (Only a single device can be used, and device splicing and index are not supported)
3486
3487 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3488 | | |**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**
3489 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3490 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3491 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3492 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3493 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3494 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3495 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3496 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3497 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3498 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3499
3500 Precautions for use of devices
3501
3502 ▪LC and HSC are signed 32-bit data types;
3503
3504 ▪T, C, D, R and SD are signed 16-bit data types;
3505
3506 Variable type used
3507
3508 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3509 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3510 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3511 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3512 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3513 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3514 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3515 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3516 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3517 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3518 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3519
3520 Features
3521
3522 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3523
3524 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3525
3526 ▪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.
3527
3528 (% class="box infomessage" %)
3529 (((
3530 ✎Note:
3531
3532 ▪This function is not available when the axis does not exist.
3533
3534 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3535 )))
3536
3537 Error code
3538
3539 |=**Error code**|=**Content**
3540 |4084H|Input data beyond the specifiable range
3541
3542 (% style="text-align:center" %)
3543 [[image:1709014420505-664.png||_mstalt="293254"]]
3544
3545 === **MC_COMBINEAXES** ===
3546
3547 ----
3548
3549 MC_COMBINEAXES
3550
3551 (% style="text-align:center" %)
3552 [[image:1709014499579-362.png||_mstalt="297700"]]
3553
3554 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3555
3556 Device used (Only a single device can be used, and device splicing and index are not supported)
3557
3558 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3559 | | |**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**
3560 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3561 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3562 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3563 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3564 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3565 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3566 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3567 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3568 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3569 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3570 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3571 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3572 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3573 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3574
3575 Precautions for use of devices
3576
3577 ▪LC and HSC are signed 32-bit data types;
3578
3579 ▪T, C, D, R and SD are signed 16-bit data types;
3580
3581 Variable type used
3582
3583 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3584 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3585 |ConbineMode|WORD|Yes|[0 to 1]|(((
3586 Addition and subtraction operation selection
3587
3588 0: Addition
3589
3590 1: Subtraction
3591 )))
3592 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3593 Master axis position type
3594
3595 1: Feedback position
3596
3597 2: Instruction position
3598 )))
3599 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3600 Auxiliary axis position type
3601
3602 1: Feedback position
3603
3604 2: Instruction position
3605 )))
3606 |BufferMode|LREAL|No|0|Mode selection
3607 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3608 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3609 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3610 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3611 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3612 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3613 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3614 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3615 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3616
3617 Features
3618
3619 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3620
3621 (% class="box infomessage" %)
3622 (((
3623 ✎Note:
3624
3625 ▪Unable to restart this instruction;
3626
3627 ▪To end this instruction, MC_construction is needed;
3628
3629 ▪This instruction does not execute in-place inspection;
3630
3631 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3632
3633 ▪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;
3634
3635 ▪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.
3636 )))
3637
3638 Error code
3639
3640 |=**Error code**|=**Content**
3641 |7000OA|Axis is in a bound status.
3642 |7000OB|Axis cannot be bound at run time.
3643 |800014|The master axis is consistent with the slave axis.
3644 |800015|The master axis is consistent with the auxiliary axis.
3645 |800016|The auxiliary axis is consistent with the slave axis.
3646 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3647
3648 (% style="text-align:center" %)
3649 [[image:1709014704454-580.png||_mstalt="294047"]]
3650
3651
3652 === **MC_MOVEVELOCITY** ===
3653
3654 ----
3655
3656 MC_MOVEVELOCITY
3657
3658 (% style="text-align:center" %)
3659 [[image:1709014790717-456.png||_mstalt="296101"]]
3660
3661 Device used (Only a single device can be used, and device splicing and index are not supported)
3662
3663 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3664 | | |**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**
3665 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3666 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3667 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3668 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3669 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3670 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3671 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3672 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3673 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3674 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3675 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3676 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3677 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3678 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3679 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3680
3681 Precautions for use of devices
3682
3683 ▪LC and HSC are signed 32-bit data types;
3684
3685 ▪T, C, D, R and SD are signed 16-bit data types;
3686
3687 Variable type used
3688
3689 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3690 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3691 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3692 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3693 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3694 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3695 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3696 |Direction|WORD|No|[1]|(((
3697 Direction flag
3698
3699 1: Positive direction
3700
3701 2: Negative direction
3702
3703 3: Current direction
3704
3705 4: Shortest path
3706 )))
3707 |BufferMode|WORD|Yes|[0]|Buffer mode
3708 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3709 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3710 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3711 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3712 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3713 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3714 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3715
3716 Features
3717
3718 ▪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.
3719
3720 ▪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;
3721
3722 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3723
3724 ▪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.
3725
3726 ▪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.
3727
3728 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3729
3730 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3731
3732 Error code
3733
3734 |=**Error code**|=**Content**
3735 |4084H|Input data beyond the specifiable range
3736
3737 === **MC _ MOVEVELOCITY _ CSV** ===
3738
3739 MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3740
3741 [[image:1761032781939-478.png]]
3742
3743 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.
3744
3745 **Device used (only a single device can be used, device splicing and index are not supported)**
3746
3747 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3748 **Index**
3749
3750 **Modification**
3751 )))|(((
3752 **Pulse**
3753
3754 **Expansion**
3755 )))
3756 |**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**
3757 |(% rowspan="15" %)(((
3758 MC _ MOVEVELOCITY
3759
3760 _ CSV
3761 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3762 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3763 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3764 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3765 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3766 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3767 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3768 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3769 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3770 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3771 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3772 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3773 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3775 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3776
3777 **Notes:**
3778
3779 * LC and HSC are signed 32-bit data types;
3780 * T, C, D, R and SD are signed 16-bit data types.
3781
3782 **Variable type used**
3783
3784 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3785 |(% rowspan="15" %)(((
3786 MC _ MOVE
3787
3788 VELOCITY _ CSV
3789 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3790 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3791 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3792 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3793 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3794 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3795 |Direction|WORD|No|[1,4]|(((
3796 Direction flag bit (Only rotation mode takes effect）。
3797
3798 ~1. Positive direction;
3799
3800 2. Negative direction;
3801
3802 3. The current direction;
3803
3804 4. The shortest path (reserved).
3805 )))
3806 |BufferMode|WORD|Yes|[0]|BufferMode
3807 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3808 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3809 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3810 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3811 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3812 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3813 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3814
3815 **Function**
3816
3817 * 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.
3818 * 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;
3819 * 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;
3820 * 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;
3821 * The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3822
3823 **Error code**
3824
3825 |**Error code**|**Content**
3826 |4084H|Input data beyond the specifiable range
3827
3828 **Precautions**
3829
3830 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3831 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3832
3833 **Timing diagram**
3834
3835
3836 (% style="text-align:center" %)
3837 [[image:1761032845559-339.png||height="306" width="520"]]
3838
3839 === **MC _ SYNCMOVEVELOCITY** ===
3840
3841 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3842
3843 [[image:1761032974104-584.png]]
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 (% style="text-align:center" %)
3912 [[image:1761033004563-270.png]]
3913
3914 === **MC _ SETTORQUE** ===
3915
3916 MC _ SETTORQUE-Synchronous torque instruction
3917
3918 [[image:1761033083623-162.png]]
3919
3920 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3921
3922 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3923 **Index**
3924
3925 **Modification**
3926 )))|(((
3927 **Pulse**
3928
3929 **Expansion**
3930 )))
3931 |**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**
3932 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3933 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3934 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3935 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3936 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3937 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3938 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3939 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3940 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3941 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3942 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3943
3944 **Notes for using devices**
3945
3946 * LC and HSC are signed 32-bit data types;
3947 * T, C, D, R and SD are signed 16-bit data types.
3948
3949 **Variable type used**
3950
3951 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3952 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3953 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3954 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3955 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3956 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3957 |Axis|WORD|No|[0,65535]|Axis number
3958 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3959 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3960 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3961 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3962 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3963 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3964
3965 **Function**
3966
3967 * 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.
3968 * The following PDOs need to be configured in CST mode;
3969
3970 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3971
3972 0x1A00: 0x6061, 0x6077, 0x6041
3973
3974 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3975 * 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;
3976 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3977 * 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;
3978
3979 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.
3980
3981 **Note**
3982
3983 * This function block is not available when the axis does not exist.
3984
3985 === **MC _ TORQUECONTROL** ===
3986
3987 MC _ TORQUECONTROL-Torque control command
3988
3989 [[image:1761033167971-496.png||height="206" width="262"]]
3990
3991 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3992
3993 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3994 **Index**
3995
3996 **Modification**
3997 )))|(((
3998 **Pulse**
3999
4000 **Expansion**
4001 )))
4002 |**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**
4003 |(% rowspan="13" %)(((
4004 MC _ TORQUE
4005
4006 CONTROL
4007 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4008 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4009 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4010 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4011 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4012 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4013 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4014 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4015 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4016 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4017 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4018 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4019 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4020
4021 **Notes for using devices**
4022
4023 * LC and HSC are signed 32-bit data types;
4024 * T, C, D, R and SD are signed 16-bit data types.
4025
4026 **Variable type used**
4027
4028 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4029 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4030 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4031 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4032 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4033 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4034 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4035 |Axis|WORD|No|[0,65535]|Axis number
4036 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4037 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4038 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4039 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4040 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4041 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4042
4043 **Function**
4044
4045 * 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.
4046 * The following PDOs need to be configured in CST mode:
4047
4048 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4049
4050 0x1A00: 0x6061, 0x6077, 0x6041
4051
4052 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4053
4054 **Function description**
4055
4056 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4057 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4058 * 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;
4059
4060 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;
4061
4062 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;
4063
4064 * Speed control in torque mode
4065
4066 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;
4067
4068 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;
4069
4070 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;
4071
4072 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4073
4074 The maximum speed of the servomotor can be limited by 0x607F;
4075
4076 0x607F can be configured into the PDO;
4077
4078 The unit of 0x607F is pulse unit, non-speed unit.
4079
4080 * Stop control on torque mode
4081
4082 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.
4083
4084 * Interrupt
4085
4086 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;
4087
4088 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4089
4090 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4091
4092 **Timing diagram**
4093
4094 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4095
4096 (% style="text-align:center" %)
4097 [[image:1761033264625-188.png]]
4098
4099
4100 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4101
4102 (% style="text-align:center" %)
4103 [[image:1761033334729-116.png]]
4104
4105 === **MC _ MOVEABSRELPP** ===
4106
4107 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108
4109 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4110
4111 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4112
4113 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4114 **Pulse**
4115
4116 **Expansion**
4117 )))
4118 |**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**
4119 |(% rowspan="13" %)(((
4120 MC _ MOVEA
4121
4122 BSRELPP
4123 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4124 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4125 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4126 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4127 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4128 |Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4129 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4130 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4131 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4132 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4133 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4134 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4135 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4136
4137 **Notes for using devices**
4138
4139 * LC and HSC are signed 32-bit data types;
4140 * T, C, D, R and SD are signed 16-bit data types.
4141
4142 **Variable type used**
4143
4144 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4145 |(% rowspan="13" %)(((
4146 MC _ MOVE
4147
4148 ABSRELPP
4149 )))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4150 |Mode|INT|No|0,1|(((
4151 1: Absolute mode.
4152
4153 1: Relative mode
4154 )))
4155 |Position|LREAL|No|(((
4156 -999999999.999999
4157
4158 999999999.999999
4159 )))|Target location
4160 |Velocity|LREAL|No|（0,999999999.999999]|Velocity
4161 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4162 |Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4163 |Axis|WORD|No|[0,65535]|Axis number
4164 |(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4165 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4166 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4167 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4168 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4169 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4170
4171 **Function**
4172
4173 * This command is used to control the EtherCAT bus contour axis to realize the absolute/relative positioning function in contour position mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid.
4174 * Contour Position Mode requires the following PDOs:
4175
4176 0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4177
4178 0x1A00: 0x6061, 0x6064, 0x6041
4179
4180 **Function description**
4181
4182 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4183 * At the rising edge of the Execute input, the instruction latches the input parameters on the left side such as Position and Velocity, triggers the absolute/relative positioning function, and switches the PLCOpen state machine of the axis to the DiscreteMotion state;
4184 * When Mode = 0, the positioning Mode is absolute positioning Mode, and Position is used to set the target Position of absolute positioning. If the axis Mode is configured as rotation Mode, the target Position is positioned according to the shortest distance;
4185 * When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4186 * Interrupt
4187
4188 When this instruction is valid in PLCOpen, the axis will be in the Discretemotion state. Other outline mode instructions that can make the axis in Discretemotion or comply with PLCOpen state machine switching can interrupt this instruction. CommandAboarted is valid when the instruction is interrupted. The instruction of periodic synchronization mode cannot be called, otherwise a fault will be reported;
4189
4190 CommandAboarted is valid when the MC _ Power instruction is invalid when Execute = TRUE and the Busy signal is valid causes the axis to be de-enabled.
4191
4192 **Timing diagram**
4193
4194 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4195
4196
4197 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4198
4199 MC _ MOVEVELOCITYPV-Contour Speed Command
4200
4201 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4202
4203 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4204
4205 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4206 **Index**
4207
4208 **Modification**
4209 )))|(((
4210 **Pulse**
4211
4212 **Expansion**
4213 )))
4214 |**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**
4215 |(% rowspan="11" %)(((
4216 MC _ MOVEVELO
4217
4218 CITYPV
4219 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4220 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4221 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4222 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4223 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4224 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4225 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4226 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4227 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4228 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4229 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4230
4231 **Notes for using devices**
4232
4233 * LC and HSC are signed 32-bit data types;
4234 * T, C, D, R and SD are signed 16-bit data types.
4235
4236 **Variable type used**
4237
4238 |**Instruction**|(((
4239 **Pin**
4240
4241 **type**
4242 )))|**Parameter**|(((
4243 **Variable**
4244
4245 **Type**
4246 )))|(((
4247 **Can you**
4248
4249 **Is empty**
4250 )))|**Range**|**Description**
4251 |(% rowspan="11" %)(((
4252 MC _ MOVEVE
4253
4254 LOCITYPV
4255 )))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4256 |Velocity|LREAL|No|(((
4257 -999999999.999999
4258
4259 999999999.999999
4260 )))|Velocity
4261 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4262 |Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4263 |Axis|WORD|No|[0,65535]|Axis number
4264 |(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4265 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4266 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4267 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4268 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4269 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4270
4271 **Function**
4272
4273 * This command is used to realize the continuous motion function of EtherCAT bus contour axis in contour speed mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid;
4274 * This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4275 * The following PDOs are required for the profile speed mode:
4276
4277 0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4278
4279 0x1A00: 0x6061, 0x606c, 0x6041
4280
4281 **Function description**
4282
4283 * This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4284 * When Execute = TRUE, the instruction latches the input parameters on the left side such as Velocity and Acceleration, the axis continuously runs according to the target speed set by Velocity, and switches the PLCOpen state machine of the axis to the ContinuousMotion state.
4285
4286 **Timing diagram**
4287
4288 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4289
4290
4291
4292
4293 **8.7.10 MC _ TORQUECONTROLPT**
4294
4295 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4296
4297 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4298
4299 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4300
4301 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4302 |**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**
4303 |(% rowspan="11" %)(((
4304 MC _ TORQUE
4305
4306 CONTROLPT
4307 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4308 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4309 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4310 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4311 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4312 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4313 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4314 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4315 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4316 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4317 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4318
4319 **Notes for using devices**
4320
4321 * LC and HSC are signed 32-bit data types;
4322 * T, C, D, R and SD are signed 16-bit data types.
4323
4324 **Variable type used**
4325
4326 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4327 |(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4328 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4329 |TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4330 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4331 |Axis|WORD|No|[0,65535]|Axis number
4332 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4333 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4334 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4335 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4336 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4337 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4338
4339 **Function**
4340
4341 * This instruction is used to control the EtherCAT bus profile axis to realize the absolute/relative positioning function in profile position mode. In the basic settings of axis configuration, the profile mode option needs to be checked before it can be called, and the rising edge is valid;
4342 * This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid and the virtual axis mode is not supported;
4343 * Profile torque mode needs to be configured with the following PDOs:
4344
4345 0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4346
4347 0x1A00: 0x6061, 0x6077, 0x6041
4348
4349
4350 **Function description**
4351
4352 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4353 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4354 * 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;
4355
4356 TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4357
4358 TorqueRamp: Torque ramp, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded.
4359
4360 * Speed control in torque mode
4361
4362 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;
4363
4364 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;
4365
4366 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;
4367
4368 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4369
4370 The maximum speed of the servomotor can be limited by 0x607F;
4371
4372 0x607F can be configured into the PDO;
4373
4374 The unit of 0x607F is pulse unit, non-speed unit.
4375
4376 * Stop control on torque mode
4377
4378 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.
4379
4380 * Interrupt
4381
4382 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;
4383
4384 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4385
4386 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4387
4388 **Timing diagram**
4389
4390 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4391
4392 == ==
4393
4394 == **SDO instruction** ==
4395
4396 ----
4397
4398 === **MC_READSDO reads SDO data** ===
4399
4400 ----
4401
4402 MC_READSDO
4403
4404 This instruction is used to read the value of the servo object dictionary.
4405
4406 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4407
4408 Content, range and data type
4409
4410 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4411 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4412 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4413 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4414 |(D1)|The read device|-|Define the size according to S3.|-
4415 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4416
4417 Device used
4418
4419 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4420 | | |**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**
4421 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4422 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4423 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4424 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4425 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4426
4427 Features
4428
4429 ▪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).
4430
4431 (% class="box infomessage" %)
4432 (((
4433 ✎Note:
4434
4435 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4436 )))
4437
4438
4439 === **MC_WRITESD0 writes SDO data** ===
4440
4441 ----
4442
4443 MC_WRITESDO
4444
4445 This instruction is used to write the value of the servo object dictionary.
4446
4447 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4448
4449 Content, range and data type
4450
4451 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4452 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4453 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4454 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4455 |(S4)|The value to be written|-|Define the size according to S3.|-
4456 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4457
4458 Device used
4459
4460 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4461 | | |**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**
4462 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4463 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4464 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4465 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4466 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4467
4468 Features
4469
4470 ▪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).
4471
4472 (% class="box infomessage" %)
4473 (((
4474 ✎Note:
4475
4476 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4477 )))
4478
4479 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4480
4481 == **Built-in variables of pulse axis system** ==
4482
4483 The current state of the axis can be monitored in the program by its system variables.
4484
4485
4486 |**Name**|**Data type**|**Function**
4487 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4488 |wAxisID|WORD|Axis number (Read only)
4489 |wVersion|WORD|Version number (Read only)
4490 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4491 |nEtherCATNo|DINT|EtherCAT axis number
4492 |nLocalID|DINT|(((
4493 Local axis ID.
4494
4495 Y0/Y1 is 0;
4496
4497 Y2/Y3 is 1;
4498
4499 Y4/Y5 is 2;
4500
4501 Y6/Y7 is 3.
4502 )))
4503 |bVirtualAxis|BOOL|Virtual axis or not
4504 |Cmd|AXIS_INFO_CMD_T| Setting value
4505 |fSetPosition|LREAL|Setting position (Read only)
4506 |fSetVelocity|LREAL|Setting speed (Read only)
4507 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4508 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4509 |fSetJerk|LREAL|Setting jerk (Read only)
4510 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4511 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4512 |Act|AXIS_INFO_ACT_T|Current value
4513 |fActPosition|LREAL|Current position (Read only)
4514 |fActVelocity|LREAL|Current speed (Read only)
4515 |fActAcceleration|LREAL|Actual acceleration (Read only)
4516 |fActDeceleration|LREAL|Actual deceleration (Read only)
4517 |fActJerk|LREAL|Actual jerk (Read only)
4518 |fActTorque|LREAL|(((
4519 Current torque (Read only)
4520
4521 Reserved
4522 )))
4523 |fFollowPos|LREAL|Following error (Read only)
4524 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4525 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4526 |Status|AXIS_INFO_STATUS_T|Axis status
4527 |wAxisState|WORD|Axis status (Read only)
4528
4529 |**Name**|**Data type**|**Function**
4530 |wAxisError|DWORD|Axis error code (Read only)
4531 |wMotionState|WORD|Motion status (Read only)
4532 |bPowerState|BOOL|Axis enabled status (Read only)
4533 |bphLimit|BOOL|Hardware positive limit (Read only)
4534 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4535 |bHomeState|BOOL|Homing limit (Read only)
4536 |bPsLimit|BOOL|Software positive limit (Read only)
4537 |bnsLimit|BOOL|Software reverse limit (Read only)
4538 |bTarDir|BOOL|Direction of motion (Read only)
4539 |Dbg|AXIS_DEBUG_T|Axis debugging information
4540 |bAxisDebug|BOOL|Axis debugging switch
4541 |bPower|BOOL|Axis enable
4542 |bStop|BOOL|Axis stop
4543 |bReset|BOOL|Axis reset
4544 |bJogP|BOOL|JOG+
4545 |bJopN|BOOL|JOG-
4546 |bHome|BOOL|Homing
4547 |bSetPos|BOOL|Set the current position
4548 |bAbsPos|BOOL|Absolute positioning
4549 |bRevPos|BOOL|Reciprocating motion:
4550 |bRelPos|BOOL|Relative positioning
4551 |bVelocity|BOOL|Continuous motion
4552 |bTorque|BOOL|(((
4553 Torque Mode
4554
4555 Reserved
4556 )))
4557 |fPresetPosition|LREAL|Preset position
4558 |fJogVelocity|LREAL|JOG speed
4559 |fPositionOffser|LREAL|Homing mode offset
4560 |fTarPosition|LREAL|Target position
4561 |fTarVelocity|LREAL|Target velocity
4562 |fTarAcceleration|LREAL|Target acceleration
4563 |fTarDeceleration|LREAL|Target deceleration
4564 |fTarJerk|LREAL|Target jerk
4565 |fTarPosition2|LREAL|Target position 2
4566
4567 |**Name**|**Data type**|**Function**
4568 |fTarVelocity2|LREAL|Target speed 2
4569 |fTarAcceleration2|LREAL|Target jerk 2
4570 |fTarDeceleration2|LREAL|Target deceleration 2
4571 |fTarJerk2|LREAL|Target jerk 2
4572 |fTarTorque|LREAL|(((
4573 Target torque
4574
4575 Reserved
4576 )))
4577 |fTarTorqueSlop|LREAL|(((
4578 Torque ramp
4579
4580 Reserved
4581 )))
4582 |fLimitVelocity|LREAL|(((
4583 Limit the speed.
4584
4585 Reserved
4586 )))
4587 |Pdo|AXIS_INFO_PDO_T|PDO information
4588 |wControlWord|WORD|Control word
4589 |wStatusWord|WORD|Status word
4590 |nSetPosition|DINT|Setting position
4591 |nActPosition|DINT|Current position
4592 |nSetVelocity|DINT|Setting speed
4593 |nActVelocity|DINT|Current speed
4594 |nSetTorque|DINT|(((
4595 Setting torque (Read only)
4596
4597 Reserved
4598 )))
4599 |nActTorque|DINT|(((
4600 Current torque
4601
4602 Reserved
4603 )))
4604 |nDO|DINT|(((
4605 Digital output
4606
4607 Reserved
4608 )))
4609 |nDI|DINT|(((
4610 Digital input
4611
4612 Reserved
4613 )))
4614 |wModesOfPperation|WORD|Control mode
4615 |wModesOfPperationDisplay|WORD|Current control mode
4616 |wTouchFunction|WORD|Touch probe function settings
4617 |wTouchStaus|WORD|Probe touch status
4618 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4619 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4620 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4621 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4622 |nMaxVelocity|DINT|(((
4623 Maximum velocity
4624
4625 Reserved
4626 )))
4627 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4628 |nEncoderMode|BYTE|Encoder model.
4629
4630 |**Name**|**Data type**|**Function**
4631 | | |(((
4632 0: Incremental mode
4633
4634 1: Absolute mode.
4635 )))
4636 |nModeSet|BYTE|(((
4637 Mode settings.
4638
4639 0: Linear mode
4640
4641 1: Rotation mode.
4642 )))
4643 |dRotatePeriod|LREAL|Rotation cycle
4644 |nSpeedADType|BYTE|(((
4645 Speed acceleration and deceleration type.
4646
4647 0: Default mode;
4648
4649 1: T-curve;
4650
4651 2: S-curve.
4652 )))
4653 |bEnSwLimit|BOOL|Whether to enable software limit
4654 |dSwPLimit|LREAL|Positive limit unit
4655 |dSwNLimit|LREAL|Reverse limit unit
4656 |dFollowThreShold|LREAL|Following error threshold Unit
4657 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4658 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4659 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4660 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4661 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4662 |bNoInErrorStop|BOOL|(((
4663 Don’t enter ErrorStop after hitting the limit
4664
4665 status.
4666
4667 Reserved
4668 )))
4669 |bHdPLimit|BOOL|(((
4670 Hardware positive limit
4671
4672 0: Positive logic;
4673
4674 1: Negative logic;
4675
4676 Reserved: Not in use yet.
4677 )))
4678 |bHdNLimit|BOOL|(((
4679 Hardware reverse limit (Read-only)
4680
4681 0: Positive logic;
4682
4683 1: Negative logic;
4684
4685 Reserved: Not in use yet.
4686 )))
4687 |bEnProbe1|BOOL|(((
4688 Touch probe 1 enable
4689
4690 Reserved
4691 )))
4692 |bEnProbe2|BOOL|(((
4693 Touch probe 2 enable
4694
4695 Reserved
4696 )))
4697 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4698 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4699 |nOutputWay|DWORD|(((
4700 Output mode
4701
4702 0: Pulse+Direction; 1: CW/CCW.
4703 )))
4704 |nCounterMode|DWORD|(((
4705 Counting mode
4706
4707 0: A/B phase 1 times frequency;
4708 )))
4709
4710 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4711 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4712 1: A/B phase 2 times frequency;
4713
4714 2: A/B phase 4 times frequency;
4715
4716 3: CW/CCW;
4717
4718 4: Pulse+Direction;
4719
4720 5: Single phase count.
4721 )))
4722 |(% style="width:187px" %)(((
4723
4724
4725
4726 nSignalSource
4727 )))|(% style="width:215px" %)(((
4728
4729
4730
4731 DWORD
4732 )))|(% style="width:361px" %)(((
4733 Signal source
4734
4735 0: X0-Phase A;
4736
4737 1: X1-Phase B;
4738
4739 2: X2-Phase A;
4740
4741 3: X3-Phase B.
4742 )))
4743 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4744 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4745 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4746 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4747 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4748 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4749 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4750 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4751 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4752 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4753 Homing signal
4754
4755 0: Not assigned;
4756
4757 1: Not used;
4758
4759 2: In use.
4760 )))
4761 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4762 Z signal.
4763
4764 0: Not assigned;
4765
4766 1: Not used;
4767
4768 2: In use.
4769 )))
4770 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4771 Positive limit
4772
4773 0: Not assigned;
4774
4775 1: Not used;
4776
4777 2: In use.
4778 )))
4779 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4780 Negative limit
4781
4782 0: Not assigned;
4783
4784 1: Not used;
4785
4786 2: In use.
4787 )))
4788 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4789 Homing direction:
4790
4791 0: Not assigned;
4792
4793 1: Forward;
4794
4795 2: Reverse
4796 )))
4797 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4798 Enter the detection direction.
4799
4800 0: Not assigned;
4801 )))
4802
4803 |**Name**|**Data type**|**Function**
4804 | | |(((
4805 0: Positive
4806
4807 2: Reverse
4808 )))
4809 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4810 |(((
4811
4812
4813 nReturnZero
4814 )))|(((
4815
4816
4817 BYTE
4818 )))|(((
4819 Homing mode
4820
4821 0: Absolute homing 1: Relative homing.
4822 )))
4823 |dReturnSpeed|LREAL|Homing speed Unit/s
4824 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4825 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4826 |nReturnTimeOut|DINT|Homing overtime time ms
4827 |bEnPLimit|BOOL|Positive limit enables
4828 |bEnNLimit|BOOL|Negative limit enable
4829 |bEnSignalLimit|BOOL|Homing signal enable
4830 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4831 Positive limit address X0~~X1023.
4832
4833 (The local pulse axis currently only supports hardware limit X0-X7)
4834 )))
4835 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4836 Reverse limit address X0~~X1023.
4837
4838 (The local pulse axis currently only supports hardware limit X0-X7)
4839 )))
4840 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4841 Homing signal address X0 to X1023
4842
4843 (The local pulse axis currently only supports hardware limit X0-X7)
4844 )))
4845 |nPLimitLogic|BOOL|(((
4846 Forward limit logic
4847
4848 0: Forward logic;
4849
4850 1: Reverse logic.
4851 )))
4852 |nNLimitLogic|BOOL|(((
4853 Negative limit logic.
4854
4855 0: Positive logic;
4856
4857 1: Negative logic.
4858 )))
4859 |nSignalLogic|BOOL|(((
4860 Homing signal logic
4861
4862 0: Positive logic;
4863
4864 1: Negative logic.
4865 )))
4866 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4867 |bReverse|BOOL|Reverse or not
4868 |bEnGearBox|BOOL|Enable gearbox
4869 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4870 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4871 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4872 |nGearRatioM|INT|Gear ratio molecule
4873 |nGearRatioD|INT|Gear ratio denominator
4874
4875 == **Others** ==
4876
4877 ----
4878
4879 === **Single axis motion control status diagram** ===
4880
4881 ----
4882
4883 (% style="text-align:center" %)
4884 [[image:1709016272018-406.png||height="669" width="631"]]
4885
4886 === **Axis group motion control status diagram** ===
4887
4888 ----
4889
4890 (% style="text-align:center" %)
4891 [[image:1709016323709-202.png]]
4892
4893
4894 === **Arc mode description** ===
4895
4896 ----
4897
4898 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4899 |(((
4900
4901
4902
4903 Features
4904 )))|(((
4905 The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4906
4907
4908 )))|(((
4909
4910
4911 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.
4912
4913
4914
4915 )))|(((
4916 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.
4917
4918 The direction of the vector determines the direction of CW and CCW circles.
4919
4920 The major arc and minor arc are determined by path choice.
4921 )))
4922 |(((
4923
4924
4925
4926 Description
4927 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4928 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4929 |(((
4930
4931
4932 Path choice
4933 )))|Invalid|(((
4934 CW and CCW circles
4935
4936 CCW mode
4937
4938 CW mode
4939 )))|(((
4940 Major and minor arcs
4941
4942 1: Minor arc
4943
4944 0: Major arc
4945 )))
4946 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4947 Restriction of angle less than 2π for single instruction
4948
4949 The vector perpendicular to the circular plane must be calculated.
4950 )))
4951
4952 === **Transition mode description** ===
4953
4954 ----
4955
4956 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4957
4958 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4959 |TransitionParameter|Invalid|Invalid|Specified velocity
4960
4961 === **Mode selection instructions** ===
4962
4963 ----
4964
4965 [[image:1709016491129-791.png]]
4966
4967 (% style="width:659px" %)
4968 |=(% style="width: 656px;" %)**Caution**
4969 |(% style="width:656px" %)(((
4970 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;
4971
4972 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.
4973
4974 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!
4975 )))
4976
4977 (1) mcAborting
4978
4979 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.
4980
4981 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.
4982
4983 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4984
4985 Figure8-1
4986
4987 (% style="text-align:center" %)
4988 [[image:1709016579583-740.png]]
4989
4990
4991 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4992
4993 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.
4994
4995 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.
4996
4997 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
4998
4999 Axis position is 1000u.
5000
5001 Figure8-2 The sequence diagram of normal working condition and mcAborting
5002
5003 (% style="text-align:center" %)
5004 [[image:1709016808830-880.png]]
5005
5006
5007 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.
5008
5009 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
5010
5011 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.
5012
5013 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.
5014
5015 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.
5016
5017 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.
5018
5019 This buffer mode is called mcAborting.
5020
5021 (2) mcBuffered
5022
5023 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.
5024
5025 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.
5026
5027 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.
5028
5029 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.
5030
5031 Figure8-3 Connections in mcBuffered
5032
5033 (% style="text-align:center" %)
5034 [[image:1709016841335-589.png]]
5035
5036 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.
5037
5038 and Done_1 is set, the work of the next function block will start immediately.
5039
5040 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.
5041
5042 Figure 8-4
5043
5044 (% style="text-align:center" %)
5045 [[image:1709016882878-958.png]]
5046
5047 mcBlending
5048
5049 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.
5050
5051 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.
5052
5053 Therefore, the mcBlending is divided into four types.
5054
5055 (1) mcBlendingLow.
5056
5057 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.
5058
5059 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.
5060
5061 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.
5062
5063 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
5064
5065 Figure 8-5 The connection of mcBlendingLow
5066
5067 (% style="text-align:center" %)
5068 [[image:1709016915405-788.png]]
5069
5070
5071 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.
5072
5073 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
5074
5075 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.
5076
5077 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
5078
5079 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.
5080
5081 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.
5082
5083 Figure 8-6 The sequence diagram of mcBlendingLow
5084
5085 (% style="text-align:center" %)
5086 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
5087
5088 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.
5089
5090 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
5091
5092 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.
5093
5094 mcBlendingPrevious
5095
5096 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.
5097
5098 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
5099
5100 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.
5101
5102 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.
5103
5104 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.
5105
5106 Figure 8-7 Sequence diagram of mcBlendingPrevious
5107
5108 (% style="text-align:center" %)
5109 [[image:1709017101626-838.png]]
5110
5111 mcBlendingNext
5112
5113 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.
5114
5115 Figure 8-8 shows the timing diagram of the mcBlendingNext.
5116
5117 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,
5118
5119 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.
5120
5121 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.
5122
5123 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.
5124
5125 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.
5126
5127 == **Error Code Cross-reference Table** ==
5128
5129 ----
5130
5131 |=**Error Code**|=**Error Definition**|=**Interpretation**
5132 |(% colspan="3" %)**Normal**
5133 |0x00|MC_ERROR_ID_SUCCESS|No error
5134 |(% colspan="3" %)**Run-time error**
5135 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
5136 Not feasible to compute
5137
5138 S-curve
5139 )))
5140 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
5141 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
5142 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
5143 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
5144 |(% colspan="3" %)**PLCOpen State-machine error**
5145 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
5146 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
5147 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
5148 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
5149 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
5150 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
5151 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
5152 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
5153 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
5154 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
5155 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
5156 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
5157 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
5158 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
5159 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
5160 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
5161 |(% colspan="3" %)**Error due to user/system limitations**
5162 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
5163 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
5164 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
5165 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
5166 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
5167 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5168 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5169 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5170 |(% colspan="3" %)**Error Stop**
5171 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5172 |(% colspan="3" %)**Error from servo**
5173 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
5174 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
5175 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
5176 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
5177 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
5178 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
5179 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
5180 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
5181 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
5182 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
5183 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
5184 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
5185 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
5186 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
5187 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
5188 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
5189 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
5190 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5191 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5192 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5193 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5194 |(% colspan="3" %)**Axis’s error**
5195 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
5196 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
5197 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
5198 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
5199 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
5200 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
5201 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
5202 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
5203 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
5204 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
5205 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
5206 |0x0070000B|(((
5207 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
5208
5209 N
5210 )))|(((
5211 Axis can't combine while
5212
5213 running
5214 )))
5215 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
5216 |(% colspan="3" %)**General FB error**
5217 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
5218 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
5219 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
5220 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
5221 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
5222 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
5223 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
5224 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
5225 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
5226 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
5227 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
5228 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
5229 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
5230 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
5231 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
5232 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
5233 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
5234 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
5235 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
5236 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
5237 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
5238 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
5239 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
5240 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
5241 |(% colspan="3" %)**General axis group error**
5242 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
5243 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
5244 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
5245 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
5246 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
5247 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
5248 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
5249 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
5250 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
5251 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
5252 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
5253 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
5254 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
5255 |(% colspan="3" %)**Single axis planner error**
5256 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
5257 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
5258 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
5259 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
5260 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
5261 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
5262 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
5263 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
5264 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
5265 |(% colspan="3" %)**Axis group planner error**
5266 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
5267 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
5268 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5269 |(% colspan="3" %)**ECAM or EGEAR error**
5270 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5271 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5272 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5273 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5274 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5275 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5276 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5277 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5278 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5279 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5280 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5281 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5282 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5283 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5284 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5285 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5286 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5287 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5288 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5289 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5290 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5291 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5292
5293