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Wiki source code of 08 Motion Control

Version 5.4 by Iris on 2025/10/22 15:17
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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
2205
2206
2207
2208
2209 == **Management functions of axis group motion control** ==
2210
2211 ----
2212
2213 === **MC_ADDAXISTOGROUP** ===
2214
2215 ----
2216
2217 MC_ADDAXISTOGROUP
2218
2219 (% style="text-align:center" %)
2220 [[image:1708999788060-281.png||_mstalt="297531"]]
2221
2222 The function block is to add axis to axis group.
2223
2224 Device used (Only a single device can be used, and device splicing and index are not supported)
2225
2226 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2227 | | |**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**
2228 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2229 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2230 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2231 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2232 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2233 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2234 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2235
2236 Precautions for use of devices
2237
2238 ▪LC and HSC are signed 32-bit data types;
2239
2240 ▪T, C, D, R and SD are signed 16-bit data types;
2241
2242 Variable type used
2243
2244 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2245 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2246 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2247 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2248 |Axis|WORD|No|[0 to 65535]|Axis number
2249 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2250 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2251 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2252 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2253
2254 Features
2255
2256 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2257
2258 ▪IndentInGroup is a flag of the adding axis order to axis group.
2259
2260 (% class="box infomessage" %)
2261 (((
2262 ✎Note:
2263
2264 ▪If the serial number of the axis group does not exist, an error will be reported;
2265
2266 ▪When the axis group is enabled, an error will be reported when add new axis;
2267
2268 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2269 )))
2270
2271 Error code
2272
2273 |=**Error code**|=**Content**
2274 |4084H|Data beyond the specifiable range was input.
2275
2276 (% style="font-size:14px" %)Sequence diagram
2277
2278 (% style="text-align:center" %)
2279 [[image:1709000371923-181.png||_mstalt="292591"]]
2280
2281 === **MC_REMOVEAXISFROMGROUP** ===
2282
2283 ----
2284
2285 MC_REMOVEAXISFROMGROUP
2286
2287 (% style="text-align:center" %)
2288 [[image:1709000436811-846.png||_mstalt="294346"]]
2289
2290 This function block removes axis from an axis group.
2291
2292 Device used (Only a single device can be used, and device splicing and index are not supported)
2293
2294 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2295 | | |**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**
2296 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2297 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2298 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2299 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2301 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2302 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2303
2304 Precautions for use of devices
2305
2306 ▪LC and HSC are signed 32-bit data types;
2307
2308 ▪T, C, D, R and SD are signed 16-bit data types;
2309
2310 Variable type used
2311
2312 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2313 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2314 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2315 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2316 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2317 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2318 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2319 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2320
2321 Features
2322
2323 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2324
2325 (% class="box infomessage" %)
2326 (((
2327 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2328
2329 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2330
2331 ▪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.
2332 )))
2333
2334 Error code
2335
2336 |=**Error code**|=**Content**
2337 |4084H|Data beyond the specifiable range was input.
2338
2339 Sequence diagram
2340
2341 (% style="text-align:center" %)
2342 [[image:1709000691345-890.png||_mstalt="295061"]]
2343
2344 === **MC_UNGROUPALLAXES** ===
2345
2346 ----
2347
2348 MC_UNGROUPALLAXES
2349
2350 (% style="text-align:center" %)
2351 [[image:1709000738471-185.png||_mstalt="294762"]]
2352
2353 This function block removes all the axes from an axis group.
2354
2355 Device used (Only a single device can be used, and device splicing and index are not supported)
2356
2357 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2358 | | |**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**
2359 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2360 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2361 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2362 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2363 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2364 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2365
2366 Precautions for use of devices
2367
2368 ▪LC and HSC are signed 32-bit data types;
2369
2370 ▪T, C, D, R and SD are signed 16-bit data types;
2371
2372 Variable type used
2373
2374 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2375 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2376 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2377 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2378 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2379 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2380 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2381
2382 Features
2383
2384 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2385
2386 (% class="box infomessage" %)
2387 (((
2388 ✎Note:
2389
2390 ▪If the serial number of the axis group does not exist, an error will be reported;
2391
2392 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2393 )))
2394
2395 Error code
2396
2397 |=**Error code**|=**Content**
2398 |4084H|Input data beyond the specifiable range
2399
2400 (% style="font-size:14px" %)Sequence diagram
2401
2402 (% style="text-align:center" %)
2403 [[image:1709001126146-829.png||_mstalt="294489"]]
2404
2405 === **MC_GROUPENABLE** ===
2406
2407 ----
2408
2409 MC_GROUPENABLE
2410
2411 (% style="text-align:center" %)
2412 [[image:1709001201497-541.png||_mstalt="292682"]]
2413
2414
2415 The function block is axis group enabled.
2416
2417 Device used (Only a single device can be used, and device splicing and index are not supported)
2418
2419 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2420 | | |**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**
2421 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2422 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2423 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2424 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2425 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2426 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2427
2428 Precautions for use of devices
2429
2430 ▪LC and HSC are signed 32-bit data types;
2431
2432 ▪T, C, D, R and SD are signed 16-bit data types.
2433
2434 Variable type used
2435
2436 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2437 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2438 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2439 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2440 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2441 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2442 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2443
2444 Features
2445
2446 ▪Enable axis group to run on the Execute rising edge.
2447
2448 (% class="box infomessage" %)
2449 (((
2450 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2451
2452 ▪When a single axis is running, enabling this block will report an error.
2453 )))
2454
2455 Error code
2456
2457 |=**Error code**|=**Content**
2458 |4084H|Input data beyond the specifiable range
2459
2460 === **MC_GROUPDISABLE** ===
2461
2462 ----
2463
2464 MC_GROUPDISABLE
2465
2466 (% style="text-align:center" %)
2467 [[image:1709001439118-784.png||_mstalt="295594"]]
2468
2469 This function block is axis group disabled.
2470
2471 Device used (Only a single device can be used, an d device splicing and index are not supported)
2472
2473 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2474 | | |**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**
2475 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2476 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2477 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2478 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2479 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2480 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2481
2482 Precautions for use of devices
2483
2484 ▪LC and HSC are signed 32-bit data types;
2485
2486 ▪T, C, D, R and SD are signed 16-bit data types.
2487
2488 Variable type used
2489
2490 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2491 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2492 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2493 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2494 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2495 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2496 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2497
2498 Features
2499
2500 ▪On the Execute rising edge, disable the axis group.
2501
2502 (% class="box infomessage" %)
2503 (((
2504 ✎Note:
2505
2506 ▪Single axis operation can only be executed when the group is disabled.
2507
2508 ▪When a single axis is running, disabling this block will report an error.
2509 )))
2510
2511 Error code
2512
2513 |=**Error code**|=**Content**
2514 |4084H|Input data beyond the specifiable range
2515
2516 === **MC_GROUPREDACTUALPOSITION** ===
2517
2518 ----
2519
2520 MC_GROUPREADACTUALPOSITION
2521
2522 (% style="text-align:center" %)
2523 [[image:1709001728776-330.png||_mstalt="294255"]]
2524
2525 This function block is to read the actual position of each axis from the axis group.
2526
2527 Device used (Only a single device can be used, and device splicing and index are not supported)
2528
2529 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2530 | | |**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**
2531 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2532 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2533 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2534 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2535 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2536 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2537 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2538 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2539
2540 Precautions for use of devices
2541
2542 ▪LC and HSC are signed 32-bit data types;
2543
2544 ▪T, C, D, R and SD are signed 16-bit data types.
2545
2546 Variable type used
2547
2548 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2549 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2550 |CoordSystem|WORD|Yes|0|Coordinate system
2551 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2552 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2553 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2554 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2555 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2556 |Position|LREAL array|Yes| |Position
2557
2558 Features
2559
2560 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2561
2562 Error code
2563
2564 |=**Error code**|=**Content**
2565 |4084H|Input data beyond the specifiable range
2566
2567 === **MC_GROUPREADACTUALVELOCITY** ===
2568
2569 ----
2570
2571 MC_GROUPREADACTUALVELOCITY
2572
2573 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2574 (((
2575 (% data-widget="image" style="text-align: center;" %)
2576 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2577
2578 (% 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"]]
2579 )))
2580
2581 This function block is to read the actual velocity of each axis from the axis group.
2582
2583 Device used (Only a single device can be used, and device splicing and index are not supported)
2584
2585 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2586 | | |**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**
2587 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2588 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2589 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2590 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2591 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2592 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2593 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2594 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2595 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2596
2597 Precautions for use of devices
2598
2599 ▪LC and HSC are signed 32-bit data types;
2600
2601 ▪T, C, D, R and SD are signed 16-bit data types;
2602
2603 Variable type used
2604
2605
2606 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2607 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2608 |CoordSystem|WORD|Yes|0|Coordinate system
2609 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2610 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2611 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2612 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2613 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2614 |Velocity|LREAL array|Yes| |Velocity
2615 |PathVelocity|LREAL|Yes| |Path velocity
2616
2617 Features
2618
2619 * (((
2620 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.
2621 )))
2622
2623 Error code
2624
2625 |=**Error code**|=**Content**
2626 |4084H|Data beyond the specifiable range was input.
2627
2628 === **MC_GROUPREADERROR** ===
2629
2630 ----
2631
2632 MC_GROUPREADERROR
2633
2634 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2635 (((
2636 (% data-widget="image" style="text-align: center;" %)
2637 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2638
2639 (% 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"]]
2640 )))
2641
2642
2643 The function block is axis group to read error.
2644
2645 Device used (Only a single device can be used, and device splicing and index are not supported)
2646
2647 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2648 | | |**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**
2649 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2650 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2651 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2652 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2653 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2654 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2655 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2656
2657 Precautions for use of devices
2658
2659 ▪LC and HSC are signed 32-bit data types;
2660
2661 ▪T, C, D, R and SD are signed 16-bit data types;
2662
2663 Variable type used
2664
2665 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2666 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2667 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2668 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2669 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2670 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2671 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2672 |GroupErrorID|DWROD|Yes| |Axis group error code
2673
2674 Features
2675
2676 ▪When Enable= true, read the axis group error status.
2677
2678 Error code
2679
2680 |=**Error code**|=**Content**
2681 |4084H|Input data beyond the specifiable range
2682
2683 === **MC_GROUPREADSTATUS** ===
2684
2685 ----
2686
2687 MC_GROUPREADSTATUS
2688
2689 (% style="text-align:center" %)
2690 [[image:1709002503132-985.png||_mstalt="293943"]]
2691
2692 This function block reads the status of the currently activated axis group.
2693
2694 Device used (Only a single device can be used, and device splicing and index are not supported)
2695
2696 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2697 | | |**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**
2698 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2699 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2700 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2701 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2702 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2703 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2704 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2705
2706 Precautions for use of devices
2707
2708 ▪LC and HSC are signed 32-bit data types;
2709
2710 ▪T, C, D, R and SD are signed 16-bit data types;
2711
2712 Variable type used
2713
2714 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2715 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2716 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2717 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2718 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2719 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2720 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2721 |GroupErrorID|DWROD|Yes| |Axis group error code
2722
2723 Features
2724
2725 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2726
2727 ▪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.
2728
2729 ▪ InPosition is set to ON when reach the target position.
2730
2731 Error code
2732
2733 |=**Error code**|=**Content**
2734 |4084H|Input data beyond the specifiable range
2735
2736 === **MC_GROUPRESET** ===
2737
2738 ----
2739
2740 MC_GROUPRESET
2741
2742 (% style="text-align:center" %)
2743 [[image:1709002711461-974.png||_mstalt="294619"]]
2744
2745
2746 The function block is axis group reset.
2747
2748 Device used (Only a single device can be used, and device splicing and index are not supported)
2749
2750 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2751 | | |**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**
2752 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2753 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2754 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2755 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2756 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2757 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2758
2759 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2760 Precautions for use of devices
2761
2762 ▪LC and HSC are signed 32-bit data types;
2763
2764 ▪T, C, D, R and SD are signed 16-bit data types.
2765
2766 (% class="wikigeneratedid" id="HVariabletypeused" %)
2767 Variable type used
2768
2769 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2770 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2771 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2772 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2773 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2774 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2775 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2776
2777 Features
2778
2779 ▪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.
2780
2781 Error code
2782
2783 |=**Error code**|=**Content**
2784 |4084H|Input data beyond the specifiable range
2785
2786 === **MC_GROUPREADACTUALACCELERATION** ===
2787
2788 ----
2789
2790 MC_GROUPREADACTUALACCELERATION
2791
2792 (% style="text-align:center" %)
2793 [[image:1709002873108-663.png||_mstalt="294645"]]
2794
2795 This function block is to read the actual acceleration of each axis from the axis group.
2796
2797 Device used (Only a single device can be used, and device splicing and index are not supported)
2798
2799 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2800 | | |**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**
2801 |(% colspan="1" rowspan="9" %)(((
2802 MC_GROUPREADACTUALACCELERATION
2803
2804
2805 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2806 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2807 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2808 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2809 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2810 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2811 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2812 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2813 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2814
2815 Precautions for use of devices
2816
2817 ▪LC and HSC are signed 32-bit data types;
2818
2819 ▪T, C, D, R and SD are signed 16-bit data types;
2820
2821 Variable type used
2822
2823 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2824 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2825 |CoordSystem|WORD|Yes|0|Coordinate system
2826 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2827 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2828 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2829 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2830 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2831 |Acceleration|LREAL array|Yes| |Acceleration
2832 |PathAcceleration|LREAL|Yes| |Path acceleration
2833
2834 Features
2835
2836 ▪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.
2837
2838 Error code
2839
2840 |=**Error code**|=**Content**
2841 |4084H|Data beyond the specifiable range was input.
2842
2843 == **Axis group motion Function Blocks** ==
2844
2845 ----
2846
2847 === **MC_GROUPSTOP** ===
2848
2849 ----
2850
2851 MC_GROUPSTOP
2852
2853 (% style="text-align:center" %)
2854 [[image:1709003200997-104.png||_mstalt="292578"]]
2855
2856
2857 The function block is use to stop axis group.
2858
2859 Device used (Only a single device can be used, and device splicing and index are not supported)
2860
2861 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2862 | | |**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**
2863 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2864 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2865 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2866 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2867 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2868 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2869 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2870 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2871 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2872 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2873
2874 Precautions for use of devices
2875
2876 ▪LC and HSC are signed 32-bit data types;
2877
2878 ▪T, C, D, R and SD are signed 16-bit data types;
2879
2880 Variable type used
2881
2882 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2883 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2884 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2885 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2886 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2887 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2888 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2889 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2890 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2891 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2892 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2893
2894 Features
2895
2896 ▪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.
2897
2898 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2899
2900 ▪Only MC_GroupDisable can be used to interrupt axis group.
2901
2902 Error code
2903
2904 |=**Error code**|=**Content**
2905 |4084H|Input data beyond the specifiable range
2906
2907 === **MC_GROUPHALT** ===
2908
2909 ----
2910
2911 MC_GROUPHALT
2912
2913 (% style="text-align:center" %)
2914 [[image:1709003451573-543.png||_mstalt="293722"]]
2915
2916 The function block is to halt axis group.
2917
2918 Device used (Only a single device can be used, and device splicing and index are not supported)
2919
2920 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2921 | | |**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**
2922 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2923 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2924 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2925 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2926 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2927 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2928 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2929 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2930 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2931 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2932
2933 Precautions for use of devices
2934
2935 ▪LC and HSC are signed 32-bit data types;
2936
2937 ▪T, C, D, R and SD are signed 16-bit data types;
2938
2939 Variable type used
2940
2941 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2942 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2943 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2944 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2945 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2946 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2947 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2948 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2949 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2950 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2951 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2952
2953 Features
2954
2955 ▪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;
2956
2957 ▪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.
2958
2959 Error code
2960
2961 |=**Error code**|=**Content**
2962 |4084H|Data beyond the specifiable range was input.
2963
2964 === **MC_MOVELINEARABSOLUTE** ===
2965
2966 ----
2967
2968 MC_MOVELINEARABSOLUTE
2969
2970 (% style="text-align:center" %)
2971 [[image:1709003761756-581.png||_mstalt="295724"]]
2972
2973 This function block is absolute position linear interpolation.
2974
2975 Device used (Only a single device can be used, and device splicing and index are not supported)
2976
2977 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2978 | | |**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**
2979 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2980 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2981 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2982 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2983 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2984 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2985 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2986 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2987 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2988 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2989 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2990 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2991 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2992 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2993 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2994 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2995 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2996
2997 Precautions for use of devices
2998
2999 ▪LC and HSC are signed 32-bit data types;
3000
3001 ▪T, C, D, R and SD are signed 16-bit data types;
3002 Variable type used
3003
3004 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3005 |(% rowspan="17" %)(((
3006 MC_MOVELINEARABSOLUTE
3007 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3008 |Position|LREAL array|No|-|Position
3009 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3010 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3011 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3012 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3013 |CoordSystem|WORD|Yes|0|Coordinate system
3014 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3015 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3016 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3017 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3018 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3019 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3020 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3021 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3022 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3023 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3024
3025 Features
3026
3027 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3028
3029 (% class="box infomessage" %)
3030 (((
3031 ✎Note:
3032
3033 ▪The axis group can be moved only when being enabled;
3034
3035 ▪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.
3036
3037 ▪Linear motion is allowed to be interrupted;
3038
3039 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3040 )))
3041
3042 Error code
3043
3044 |=**Error code**|=**Content**
3045 |4084H|Input data beyond the specifiable range
3046
3047 (% style="text-align:center" %)
3048 [[image:1709004126151-658.png||_mstalt="294008"]]
3049
3050 === **MC_MOVELINEARRELATIVE** ===
3051
3052 ----
3053
3054 MC_MOVELINEARRELATIVE
3055
3056 (% style="text-align:center" %)
3057 [[image:1709004271451-886.png||_mstalt="295594"]]
3058
3059
3060 This function block is relative position linear interpolation.
3061
3062 Device used (Only a single device can be used, and device splicing and index are not supported)
3063
3064 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3065 | | |**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**
3066 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3067 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3068 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3069 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3070 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3071 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3072 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3078 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3079 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3080 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3081 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3082 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3083
3084 Precautions for use of devices
3085
3086 ▪LC and HSC are signed 32-bit data types;
3087
3088 ▪T, C, D, R and SD are signed 16-bit data types.
3089
3090 Variable type used
3091
3092 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3093 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3094 |Distance|LREAL array|No|-|Position
3095 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3096 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3097 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3098 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3099 |CoordSystem|WORD|Yes|-|Coordinate system
3100 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3101 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3102 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3103 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3104 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3105 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3106 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3107 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3108 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3109 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3110
3111 Features
3112
3113 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3114
3115 (% class="box infomessage" %)
3116 (((
3117 ✎Note:▪The axis group can be moved only when being enabled;
3118
3119 ▪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.
3120
3121 ▪Linear motion is allowed to be interrupted;
3122
3123 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3124 )))
3125
3126 Error code
3127
3128 |=**Error code**|=**Content**
3129 |4084H|Input data beyond the specifiable range
3130
3131 (% style="text-align:center" %)
3132 [[image:1709004561796-657.png||_mstalt="297674"]]
3133
3134 === **MC_MOVECIRCULARABSOLUTE** ===
3135
3136 ----
3137
3138 MC_MOVECIRCULARABSOLUTE
3139
3140 (% style="text-align:center" %)
3141 [[image:1709004628989-926.png||_mstalt="299143"]]
3142
3143 The function block is absolute position circular interpolation.
3144
3145 Device used (Only a single device can be used, and device splicing and index are not supported)
3146
3147 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3148 | | |**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**
3149 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3150 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3151 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3152 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3153 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3154 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3155 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3156 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3157 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3158 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3159 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3160 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3161 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3162 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3163 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3164 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3165 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3166 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3167 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3168 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3169
3170 Precautions for use of devices
3171
3172 ▪LC and HSC are signed 32-bit data types;
3173
3174 ▪T, C, D, R and SD are signed 16-bit data types;
3175 Variable type used
3176
3177 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3178 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3179 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3180 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3181 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3182 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3183 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3184 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3185 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3186 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3187 |CoordSystem|WORD|Yes|0|Coordinate system
3188 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3189 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3190 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3191 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3192 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3193 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3194 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3195 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3196 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3197 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3198
3199 Features
3200
3201 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3202
3203 (% class="box infomessage" %)
3204 (((
3205 ✎Note**:**
3206
3207 ▪The axis group can be moved only when being enabled;
3208
3209 ▪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.
3210
3211 ▪Linear motion is allowed to be interrupted;
3212
3213 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3214 )))
3215
3216 Error code
3217
3218 |=**Error code**|=**Content**
3219 |4084H|Input data beyond the specifiable range
3220
3221 (% style="text-align:center" %)
3222 [[image:1709005028485-788.png||_mstalt="297895"]]
3223
3224 === **MC_MOVECIRCULARRELATIVE** ===
3225
3226 ----
3227
3228 MC_MOVECIRCULARRELATIVE
3229
3230 (% style="text-align:center" %)
3231 [[image:1709005280026-492.png||_mstalt="293397"]]
3232
3233 Device used (Only a single device can be used, and device splicing and index are not supported)
3234
3235 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3236 | | |**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**
3237 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3238 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3239 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3240 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3241 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3242 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3243 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3244 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3245 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3246 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3247 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3248 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3249 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3250 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3251 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3252 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3253 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3254 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3255 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3256 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3257
3258 Precautions for use of devices
3259
3260 ▪LC and HSC are signed 32-bit data types;
3261
3262 ▪T, C, D, R and SD are signed 16-bit data types;
3263
3264 Variable type used
3265
3266 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3267 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3268 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3269 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3270 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3271 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3272 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3273 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3274 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3275 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3276 |CoordSystem|WORD|Yes|-|Coordinate system
3277 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3278 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3279 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3280 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3281 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3282 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3283 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3284 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3285 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3286 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3287
3288 Features
3289
3290 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3291
3292 (% class="box infomessage" %)
3293 (((
3294 ✎Note:
3295
3296 ▪The axis group can be moved only when being enabled;
3297
3298 ▪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.
3299
3300 ▪Linear motion is allowed to be interrupted;
3301
3302 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3303 )))
3304
3305 Error code
3306
3307 |=**Error code**|=**Content**
3308 |4084H|Input data beyond the specifiable range
3309
3310 (% style="text-align:center" %)
3311 [[image:1709005752944-678.png||_mstalt="297869"]]
3312
3313 === **MC_MOVEDIRECTABSOLUTE** ===
3314
3315 ----
3316
3317 MC_MOVEDIRECTABSOLUTE
3318
3319 (% style="text-align:center" %)
3320 [[image:1709012205292-858.png||_mstalt="295360"]]
3321
3322 This function block is the fast positioning of absolute position.
3323
3324 Device used (Only a single device can be used, and device splicing and index are not supported)
3325
3326 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3327 | | |**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**
3328 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3329 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3330 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3331 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3332 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3333 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3334 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3335 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3336 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3337 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3338 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3339 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3340 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3341
3342 Precautions for use of devices
3343
3344 ▪LC and HSC are signed 32-bit data types;
3345
3346 ▪T, C, D, R and SD are signed 16-bit data types;
3347
3348 Variable type used
3349
3350 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3351 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3352 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3353 |CoordSystem|WORD|Yes|0|Coordinate system
3354 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3355 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3356 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3357 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3358 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3359 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3360 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3361 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3362 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3363 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3364
3365 Features
3366
3367 ▪ 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;
3368
3369 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3370
3371 (% class="box infomessage" %)
3372 (((
3373 ✎Note:
3374
3375 ▪The axis group can be moved only when being enabled;
3376
3377 ▪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.
3378
3379 ▪Linear motion is allowed to be interrupted;
3380
3381 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3382
3383 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3384 )))
3385
3386 Error code
3387
3388 |=**Error code**|=**Content**
3389 |4084H|Data beyond the specifiable range was input.
3390
3391 (% style="text-align:center" %)
3392 [[image:1709012383461-841.png||_mstalt="293800"]]
3393
3394 === **MC_MOVEDIRECTRELATIVE** ===
3395
3396 ----
3397
3398 MC_MOVEDIRECTRELATIVE
3399
3400 (% style="text-align:center" %)
3401 [[image:1709012442595-305.png||_mstalt="293592"]]
3402
3403 The function block executes the fast positioning of the relative position.
3404
3405 Device used (Only a single device can be used, and device splicing and index are not supported)
3406
3407 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3408 | | |**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**
3409 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3410 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3411 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3412 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3413 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3414 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3415 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3416 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3417 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3418 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3419 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3420 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3421 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3422
3423 Precautions for use of devices
3424
3425 ▪LC and HSC are signed 32-bit data types;
3426
3427 ▪T, C, D, R and SD are signed 16-bit data types;
3428
3429 Variable type used
3430
3431 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3432 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3433 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3434 |CoordSystem|WORD|Yes|0|Coordinate system
3435 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3436 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3437 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3438 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3439 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3440 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3441 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3442 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3443 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3444 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3445
3446 Features
3447
3448 ▪ 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;
3449
3450 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3451
3452 (% class="box infomessage" %)
3453 (((
3454 ✎Note:
3455
3456 ▪The axis group can be moved only when being enabled;
3457
3458 ▪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.
3459
3460 ▪Linear motion is allowed to be interrupted;
3461
3462 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3463
3464 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3465 )))
3466
3467 Error code
3468
3469 |=**Error code**|=**Content**
3470 |4084H|Input data beyond the specifiable range
3471
3472 (% style="text-align:center" %)
3473 [[image:1709012732094-708.png||_mstalt="294580"]]
3474
3475 == **Other special FB** ==
3476
3477 ----
3478
3479 === **MC_MOVEJOG** ===
3480
3481 ----
3482
3483 MC_MOVEJOG
3484
3485 (% style="text-align:center" %)
3486 [[image:1709014222028-861.png||_mstalt="293059"]]
3487
3488 The function block makes the controlled axis execute micro motion at the set target velocity.
3489
3490 Device used (Only a single device can be used, and device splicing and index are not supported)
3491
3492 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3493 | | |**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**
3494 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3495 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3496 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3497 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3498 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3499 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3500 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3501 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3502 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3503 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3504
3505 Precautions for use of devices
3506
3507 ▪LC and HSC are signed 32-bit data types;
3508
3509 ▪T, C, D, R and SD are signed 16-bit data types;
3510
3511 Variable type used
3512
3513 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3514 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3515 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3516 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3517 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3518 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3519 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3520 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3521 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3522 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3523 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3524
3525 Features
3526
3527 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3528
3529 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3530
3531 ▪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.
3532
3533 (% class="box infomessage" %)
3534 (((
3535 ✎Note:
3536
3537 ▪This function is not available when the axis does not exist.
3538
3539 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3540 )))
3541
3542 Error code
3543
3544 |=**Error code**|=**Content**
3545 |4084H|Input data beyond the specifiable range
3546
3547 (% style="text-align:center" %)
3548 [[image:1709014420505-664.png||_mstalt="293254"]]
3549
3550 === **MC_COMBINEAXES** ===
3551
3552 ----
3553
3554 MC_COMBINEAXES
3555
3556 (% style="text-align:center" %)
3557 [[image:1709014499579-362.png||_mstalt="297700"]]
3558
3559 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3560
3561 Device used (Only a single device can be used, and device splicing and index are not supported)
3562
3563 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3564 | | |**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**
3565 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3566 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3567 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3568 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3569 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3570 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3571 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3572 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3573 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3574 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3575 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3576 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3577 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3578 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3579
3580 Precautions for use of devices
3581
3582 ▪LC and HSC are signed 32-bit data types;
3583
3584 ▪T, C, D, R and SD are signed 16-bit data types;
3585
3586 Variable type used
3587
3588 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3589 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3590 |ConbineMode|WORD|Yes|[0 to 1]|(((
3591 Addition and subtraction operation selection
3592
3593 0: Addition
3594
3595 1: Subtraction
3596 )))
3597 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3598 Master axis position type
3599
3600 1: Feedback position
3601
3602 2: Instruction position
3603 )))
3604 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3605 Auxiliary axis position type
3606
3607 1: Feedback position
3608
3609 2: Instruction position
3610 )))
3611 |BufferMode|LREAL|No|0|Mode selection
3612 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3613 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3614 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3615 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3616 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3617 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3618 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3619 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3620 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3621
3622 Features
3623
3624 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3625
3626 (% class="box infomessage" %)
3627 (((
3628 ✎Note:
3629
3630 ▪Unable to restart this instruction;
3631
3632 ▪To end this instruction, MC_construction is needed;
3633
3634 ▪This instruction does not execute in-place inspection;
3635
3636 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3637
3638 ▪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;
3639
3640 ▪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.
3641 )))
3642
3643 Error code
3644
3645 |=**Error code**|=**Content**
3646 |7000OA|Axis is in a bound status.
3647 |7000OB|Axis cannot be bound at run time.
3648 |800014|The master axis is consistent with the slave axis.
3649 |800015|The master axis is consistent with the auxiliary axis.
3650 |800016|The auxiliary axis is consistent with the slave axis.
3651 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3652
3653 (% style="text-align:center" %)
3654 [[image:1709014704454-580.png||_mstalt="294047"]]
3655
3656
3657 === **MC_MOVEVELOCITY** ===
3658
3659 ----
3660
3661 MC_MOVEVELOCITY
3662
3663 (% style="text-align:center" %)
3664 [[image:1709014790717-456.png||_mstalt="296101"]]
3665
3666 Device used (Only a single device can be used, and device splicing and index are not supported)
3667
3668 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3669 | | |**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**
3670 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3671 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3672 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3673 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3674 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3675 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3676 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3677 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3678 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3679 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3680 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3681 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3682 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3683 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3684 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3685
3686 Precautions for use of devices
3687
3688 ▪LC and HSC are signed 32-bit data types;
3689
3690 ▪T, C, D, R and SD are signed 16-bit data types;
3691
3692 Variable type used
3693
3694 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3695 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3696 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3697 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3698 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3699 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3700 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3701 |Direction|WORD|No|[1]|(((
3702 Direction flag
3703
3704 1: Positive direction
3705
3706 2: Negative direction
3707
3708 3: Current direction
3709
3710 4: Shortest path
3711 )))
3712 |BufferMode|WORD|Yes|[0]|Buffer mode
3713 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3714 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3715 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3716 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3717 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3718 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3719 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3720
3721 Features
3722
3723 ▪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.
3724
3725 ▪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;
3726
3727 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3728
3729 ▪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.
3730
3731 ▪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.
3732
3733 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3734
3735 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3736
3737 Error code
3738
3739 |=**Error code**|=**Content**
3740 |4084H|Input data beyond the specifiable range
3741
3742 === **MC _ MOVEVELOCITY _ CSV** ===
3743
3744 MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3745
3746 [[image:1761032781939-478.png]]
3747
3748 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.
3749
3750 **Device used (only a single device can be used, device splicing and index are not supported)**
3751
3752 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3753 **Index**
3754
3755 **Modification**
3756 )))|(((
3757 **Pulse**
3758
3759 **Expansion**
3760 )))
3761 |**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**
3762 |(% rowspan="15" %)(((
3763 MC _ MOVEVELOCITY
3764
3765 _ CSV
3766 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3767 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3768 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3769 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3770 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3771 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3772 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3773 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3774 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3775 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3776 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3777 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3778 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3779 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3780 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3781
3782 **Notes:**
3783
3784 * LC and HSC are signed 32-bit data types;
3785 * T, C, D, R and SD are signed 16-bit data types.
3786
3787 **Variable type used**
3788
3789 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3790 |(% rowspan="15" %)(((
3791 MC _ MOVE
3792
3793 VELOCITY _ CSV
3794 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3795 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3796 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3797 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3798 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3799 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3800 |Direction|WORD|No|[1,4]|(((
3801 Direction flag bit (Only rotation mode takes effect）。
3802
3803 ~1. Positive direction;
3804
3805 2. Negative direction;
3806
3807 3. The current direction;
3808
3809 4. The shortest path (reserved).
3810 )))
3811 |BufferMode|WORD|Yes|[0]|BufferMode
3812 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3813 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3814 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3815 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3816 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3817 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3818 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3819
3820 **Function**
3821
3822 * 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.
3823 * 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;
3824 * 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;
3825 * 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;
3826 * The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3827
3828 **Error code**
3829
3830 |**Error code**|**Content**
3831 |4084H|Input data beyond the specifiable range
3832
3833 **Precautions**
3834
3835 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3836 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3837
3838 **Timing diagram**
3839
3840
3841 (% style="text-align:center" %)
3842 [[image:1761032845559-339.png||height="306" width="520"]]
3843
3844 === **MC _ SYNCMOVEVELOCITY** ===
3845
3846 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3847
3848 [[image:1761032974104-584.png]]
3849
3850 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.
3851
3852 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3853
3854 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3855 |**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**
3856 |(% rowspan="8" %)(((
3857 MC _ SYNCMOVE
3858
3859 VELOCITY
3860 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3861 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3862 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3863 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3864 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3865 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3866 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3867 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3868
3869 **Notes for using devices**
3870
3871 * LC and HSC are signed 32-bit data types;
3872 * T, C, D, R and SD are signed 16-bit data types.
3873
3874 **Variable type used**
3875
3876 |**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3877 |(% rowspan="8" %)(((
3878 MC _ SYNCMOVE
3879
3880 VELOCITY
3881 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3882 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3883 |Axis|(((
3884 WORD
3885
3886
3887 )))|No|[0,65535]|Axis number and built-in variable of axis
3888 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3889 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3890 |CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3891 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3892 |ErrorID|DWORD|Yes|-|(((
3893 Error code (Please refer to
3894
3895 [[8.11 Error Code>>path:#错误码对照表]]
3896 )))
3897
3898 **Function**
3899
3900 * 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.
3901 * 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;
3902 * 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;
3903 * 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;
3904 * The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3905
3906 **✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3907
3908
3909 **Error code**
3910
3911 |**Error code**|**Content**
3912 |4084H|Input data beyond the specifiable range
3913
3914 **Timing diagram**
3915
3916 (% style="text-align:center" %)
3917 [[image:1761033004563-270.png]]
3918
3919 === **MC _ SETTORQUE** ===
3920
3921 MC _ SETTORQUE-Synchronous torque instruction
3922
3923 [[image:1761033083623-162.png]]
3924
3925 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3926
3927 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3928 **Index**
3929
3930 **Modification**
3931 )))|(((
3932 **Pulse**
3933
3934 **Expansion**
3935 )))
3936 |**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**
3937 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3938 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3939 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3940 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3941 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3942 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3943 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3944 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3945 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3946 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3947 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3948
3949 **Notes for using devices**
3950
3951 * LC and HSC are signed 32-bit data types;
3952 * T, C, D, R and SD are signed 16-bit data types.
3953
3954 **Variable type used**
3955
3956 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3957 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3958 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3959 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3960 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3961 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3962 |Axis|WORD|No|[0,65535]|Axis number
3963 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3964 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3965 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3966 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3967 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3968 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3969
3970 **Function**
3971
3972 * 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.
3973 * The following PDOs need to be configured in CST mode;
3974
3975 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3976
3977 0x1A00: 0x6061, 0x6077, 0x6041
3978
3979 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3980 * 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;
3981 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3982 * 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;
3983
3984 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.
3985
3986 **Note**
3987
3988 * This function block is not available when the axis does not exist.
3989
3990 === **MC _ TORQUECONTROL** ===
3991
3992 MC _ TORQUECONTROL-Torque control command
3993
3994 [[image:1761033167971-496.png||height="206" width="262"]]
3995
3996 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3997
3998 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3999 **Index**
4000
4001 **Modification**
4002 )))|(((
4003 **Pulse**
4004
4005 **Expansion**
4006 )))
4007 |**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**
4008 |(% rowspan="13" %)(((
4009 MC _ TORQUE
4010
4011 CONTROL
4012 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4013 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4014 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4015 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4016 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4017 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4018 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4019 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4020 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4021 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4022 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4023 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4024 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4025
4026 **Notes for using devices**
4027
4028 * LC and HSC are signed 32-bit data types;
4029 * T, C, D, R and SD are signed 16-bit data types.
4030
4031 **Variable type used**
4032
4033 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4034 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4035 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4036 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4037 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4038 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4039 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4040 |Axis|WORD|No|[0,65535]|Axis number
4041 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4042 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4043 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4044 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4045 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4046 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4047
4048 **Function**
4049
4050 * 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.
4051 * The following PDOs need to be configured in CST mode:
4052
4053 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4054
4055 0x1A00: 0x6061, 0x6077, 0x6041
4056
4057 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4058
4059 **Function description**
4060
4061 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4062 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4063 * 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;
4064
4065 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;
4066
4067 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;
4068
4069 * Speed control in torque mode
4070
4071 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;
4072
4073 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;
4074
4075 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;
4076
4077 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4078
4079 The maximum speed of the servomotor can be limited by 0x607F;
4080
4081 0x607F can be configured into the PDO;
4082
4083 The unit of 0x607F is pulse unit, non-speed unit.
4084
4085 * Stop control on torque mode
4086
4087 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.
4088
4089 * Interrupt
4090
4091 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;
4092
4093 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4094
4095 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4096
4097 **Timing diagram**
4098
4099 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4100
4101 (% style="text-align:center" %)
4102 [[image:1761033264625-188.png]]
4103
4104
4105 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4106
4107 (% style="text-align:center" %)
4108 [[image:1761033334729-116.png]]
4109
4110 === **MC _ MOVEABSRELPP** ===
4111
4112 MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4113
4114 [[image:1761034254689-443.png]]
4115
4116 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4117
4118 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4119 **Pulse**
4120
4121 **Expansion**
4122 )))
4123 |**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**
4124 |(% rowspan="13" %)(((
4125 MC _ MOVEA
4126
4127 BSRELPP
4128 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4129 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4130 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4131 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4132 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4133 |Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4134 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4135 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4136 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4137 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4139 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4140 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4141
4142 **Notes for using devices**
4143
4144 * LC and HSC are signed 32-bit data types;
4145 * T, C, D, R and SD are signed 16-bit data types.
4146
4147 **Variable type used**
4148
4149 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4150 |(% rowspan="13" %)(((
4151 MC _ MOVE
4152
4153 ABSRELPP
4154 )))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4155 |Mode|INT|No|0,1|(((
4156 1: Absolute mode.
4157
4158 1: Relative mode
4159 )))
4160 |Position|LREAL|No|(((
4161 -999999999.999999
4162
4163 999999999.999999
4164 )))|Target location
4165 |Velocity|LREAL|No|（0,999999999.999999]|Velocity
4166 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4167 |Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4168 |Axis|WORD|No|[0,65535]|Axis number
4169 |(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4170 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4171 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4172 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4173 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4174 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4175
4176 **Function**
4177
4178 * 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.
4179 * Contour Position Mode requires the following PDOs:
4180
4181 0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4182
4183 0x1A00: 0x6061, 0x6064, 0x6041
4184
4185 **Function description**
4186
4187 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4188 * 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;
4189 * 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;
4190 * When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4191 * Interrupt
4192
4193 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;
4194
4195 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.
4196
4197 **Timing diagram**
4198
4199
4200 (% style="text-align:center" %)
4201 [[image:1761034304535-743.png]]
4202
4203 === **MC _ MOVEVELOCITYPV** ===
4204
4205 MC _ MOVEVELOCITYPV-Contour Speed Command
4206
4207 [[image:1761034415972-645.png]]
4208
4209 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4210
4211 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4212 **Index**
4213
4214 **Modification**
4215 )))|(((
4216 **Pulse**
4217
4218 **Expansion**
4219 )))
4220 |**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**
4221 |(% rowspan="11" %)(((
4222 MC _ MOVEVELO
4223
4224 CITYPV
4225 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4226 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4227 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4228 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4229 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4230 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4231 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4232 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4234 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4236
4237 **Notes for using devices**
4238
4239 * LC and HSC are signed 32-bit data types;
4240 * T, C, D, R and SD are signed 16-bit data types.
4241
4242 **Variable type used**
4243
4244 |**Instruction**|(((
4245 **Pin**
4246
4247 **type**
4248 )))|**Parameter**|(((
4249 **Variable**
4250
4251 **Type**
4252 )))|(((
4253 **Can you**
4254
4255 **Is empty**
4256 )))|**Range**|**Description**
4257 |(% rowspan="11" %)(((
4258 MC _ MOVEVE
4259
4260 LOCITYPV
4261 )))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4262 |Velocity|LREAL|No|(((
4263 -999999999.999999
4264
4265 999999999.999999
4266 )))|Velocity
4267 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4268 |Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4269 |Axis|WORD|No|[0,65535]|Axis number
4270 |(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4271 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4272 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4273 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4274 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4275 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4276
4277 **Function**
4278
4279 * 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;
4280 * This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4281 * The following PDOs are required for the profile speed mode:
4282
4283 0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4284
4285 0x1A00: 0x6061, 0x606c, 0x6041
4286
4287 **Function description**
4288
4289 * This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4290 * 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.
4291
4292 **Timing diagram**
4293
4294
4295 (% style="text-align:center" %)
4296 [[image:1761034458765-139.png]]
4297
4298 === **MC _ TORQUECONTROLPT** ===
4299
4300 MC _ TORQUECONTROLPT-Contour torque control command
4301
4302 [[image:1761034544967-630.png]]
4303
4304 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4305
4306 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4307 |**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**
4308 |(% rowspan="11" %)(((
4309 MC _ TORQUE
4310
4311 CONTROLPT
4312 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4313 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4314 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4315 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4316 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4317 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4318 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4319 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4321 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4323
4324 **Notes for using devices**
4325
4326 * LC and HSC are signed 32-bit data types;
4327 * T, C, D, R and SD are signed 16-bit data types.
4328
4329 **Variable type used**
4330
4331 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4332 |(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4333 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4334 |TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4335 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4336 |Axis|WORD|No|[0,65535]|Axis number
4337 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4338 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4339 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4340 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4341 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4342 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4343
4344 **Function**
4345
4346 * 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;
4347 * 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;
4348 * Profile torque mode needs to be configured with the following PDOs:
4349
4350 0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4351
4352 0x1A00: 0x6061, 0x6077, 0x6041
4353
4354 **Function description**
4355
4356 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4357 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4358 * 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;
4359
4360 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;
4361
4362 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.
4363
4364 * Speed control in torque mode
4365
4366 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;
4367
4368 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;
4369
4370 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;
4371
4372 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4373
4374 The maximum speed of the servomotor can be limited by 0x607F;
4375
4376 0x607F can be configured into the PDO;
4377
4378 The unit of 0x607F is pulse unit, non-speed unit.
4379
4380 * Stop control on torque mode
4381
4382 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.
4383
4384 * Interrupt
4385
4386 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;
4387
4388 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4389
4390 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4391
4392 **Timing diagram**
4393
4394 (% style="text-align:center" %)
4395 [[image:1761034615747-763.png]]
4396
4397 == **SDO instruction** ==
4398
4399 ----
4400
4401 === **MC_READSDO reads SDO data** ===
4402
4403 ----
4404
4405 MC_READSDO
4406
4407 This instruction is used to read the value of the servo object dictionary.
4408
4409 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4410
4411 Content, range and data type
4412
4413 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4414 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4415 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4416 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4417 |(D1)|The read device|-|Define the size according to S3.|-
4418 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4419
4420 Device used
4421
4422 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4423 | | |**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**
4424 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4425 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4426 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4427 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4428 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4429
4430 Features
4431
4432 ▪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).
4433
4434 (% class="box infomessage" %)
4435 (((
4436 ✎Note:
4437
4438 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4439 )))
4440
4441
4442 === **MC_WRITESD0 writes SDO data** ===
4443
4444 ----
4445
4446 MC_WRITESDO
4447
4448 This instruction is used to write the value of the servo object dictionary.
4449
4450 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4451
4452 Content, range and data type
4453
4454 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4455 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4456 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4457 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4458 |(S4)|The value to be written|-|Define the size according to S3.|-
4459 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4460
4461 Device used
4462
4463 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4464 | | |**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**
4465 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4466 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4467 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4468 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4469 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4470
4471 Features
4472
4473 ▪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).
4474
4475 (% class="box infomessage" %)
4476 (((
4477 ✎Note:
4478
4479 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4480 )))
4481
4482 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4483
4484 == **Built-in variables of pulse axis system** ==
4485
4486 The current state of the axis can be monitored in the program by its system variables.
4487
4488
4489 |**Name**|**Data type**|**Function**
4490 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4491 |wAxisID|WORD|Axis number (Read only)
4492 |wVersion|WORD|Version number (Read only)
4493 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4494 |nEtherCATNo|DINT|EtherCAT axis number
4495 |nLocalID|DINT|(((
4496 Local axis ID.
4497
4498 Y0/Y1 is 0;
4499
4500 Y2/Y3 is 1;
4501
4502 Y4/Y5 is 2;
4503
4504 Y6/Y7 is 3.
4505 )))
4506 |bVirtualAxis|BOOL|Virtual axis or not
4507 |Cmd|AXIS_INFO_CMD_T| Setting value
4508 |fSetPosition|LREAL|Setting position (Read only)
4509 |fSetVelocity|LREAL|Setting speed (Read only)
4510 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4511 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4512 |fSetJerk|LREAL|Setting jerk (Read only)
4513 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4514 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4515 |Act|AXIS_INFO_ACT_T|Current value
4516 |fActPosition|LREAL|Current position (Read only)
4517 |fActVelocity|LREAL|Current speed (Read only)
4518 |fActAcceleration|LREAL|Actual acceleration (Read only)
4519 |fActDeceleration|LREAL|Actual deceleration (Read only)
4520 |fActJerk|LREAL|Actual jerk (Read only)
4521 |fActTorque|LREAL|(((
4522 Current torque (Read only)
4523
4524 Reserved
4525 )))
4526 |fFollowPos|LREAL|Following error (Read only)
4527 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4528 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4529 |Status|AXIS_INFO_STATUS_T|Axis status
4530 |wAxisState|WORD|Axis status (Read only)
4531
4532 |**Name**|**Data type**|**Function**
4533 |wAxisError|DWORD|Axis error code (Read only)
4534 |wMotionState|WORD|Motion status (Read only)
4535 |bPowerState|BOOL|Axis enabled status (Read only)
4536 |bphLimit|BOOL|Hardware positive limit (Read only)
4537 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4538 |bHomeState|BOOL|Homing limit (Read only)
4539 |bPsLimit|BOOL|Software positive limit (Read only)
4540 |bnsLimit|BOOL|Software reverse limit (Read only)
4541 |bTarDir|BOOL|Direction of motion (Read only)
4542 |Dbg|AXIS_DEBUG_T|Axis debugging information
4543 |bAxisDebug|BOOL|Axis debugging switch
4544 |bPower|BOOL|Axis enable
4545 |bStop|BOOL|Axis stop
4546 |bReset|BOOL|Axis reset
4547 |bJogP|BOOL|JOG+
4548 |bJopN|BOOL|JOG-
4549 |bHome|BOOL|Homing
4550 |bSetPos|BOOL|Set the current position
4551 |bAbsPos|BOOL|Absolute positioning
4552 |bRevPos|BOOL|Reciprocating motion:
4553 |bRelPos|BOOL|Relative positioning
4554 |bVelocity|BOOL|Continuous motion
4555 |bTorque|BOOL|(((
4556 Torque Mode
4557
4558 Reserved
4559 )))
4560 |fPresetPosition|LREAL|Preset position
4561 |fJogVelocity|LREAL|JOG speed
4562 |fPositionOffser|LREAL|Homing mode offset
4563 |fTarPosition|LREAL|Target position
4564 |fTarVelocity|LREAL|Target velocity
4565 |fTarAcceleration|LREAL|Target acceleration
4566 |fTarDeceleration|LREAL|Target deceleration
4567 |fTarJerk|LREAL|Target jerk
4568 |fTarPosition2|LREAL|Target position 2
4569
4570 |**Name**|**Data type**|**Function**
4571 |fTarVelocity2|LREAL|Target speed 2
4572 |fTarAcceleration2|LREAL|Target jerk 2
4573 |fTarDeceleration2|LREAL|Target deceleration 2
4574 |fTarJerk2|LREAL|Target jerk 2
4575 |fTarTorque|LREAL|(((
4576 Target torque
4577
4578 Reserved
4579 )))
4580 |fTarTorqueSlop|LREAL|(((
4581 Torque ramp
4582
4583 Reserved
4584 )))
4585 |fLimitVelocity|LREAL|(((
4586 Limit the speed.
4587
4588 Reserved
4589 )))
4590 |Pdo|AXIS_INFO_PDO_T|PDO information
4591 |wControlWord|WORD|Control word
4592 |wStatusWord|WORD|Status word
4593 |nSetPosition|DINT|Setting position
4594 |nActPosition|DINT|Current position
4595 |nSetVelocity|DINT|Setting speed
4596 |nActVelocity|DINT|Current speed
4597 |nSetTorque|DINT|(((
4598 Setting torque (Read only)
4599
4600 Reserved
4601 )))
4602 |nActTorque|DINT|(((
4603 Current torque
4604
4605 Reserved
4606 )))
4607 |nDO|DINT|(((
4608 Digital output
4609
4610 Reserved
4611 )))
4612 |nDI|DINT|(((
4613 Digital input
4614
4615 Reserved
4616 )))
4617 |wModesOfPperation|WORD|Control mode
4618 |wModesOfPperationDisplay|WORD|Current control mode
4619 |wTouchFunction|WORD|Touch probe function settings
4620 |wTouchStaus|WORD|Probe touch status
4621 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4622 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4623 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4624 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4625 |nMaxVelocity|DINT|(((
4626 Maximum velocity
4627
4628 Reserved
4629 )))
4630 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4631 |nEncoderMode|BYTE|Encoder model.
4632
4633 |**Name**|**Data type**|**Function**
4634 | | |(((
4635 0: Incremental mode
4636
4637 1: Absolute mode.
4638 )))
4639 |nModeSet|BYTE|(((
4640 Mode settings.
4641
4642 0: Linear mode
4643
4644 1: Rotation mode.
4645 )))
4646 |dRotatePeriod|LREAL|Rotation cycle
4647 |nSpeedADType|BYTE|(((
4648 Speed acceleration and deceleration type.
4649
4650 0: Default mode;
4651
4652 1: T-curve;
4653
4654 2: S-curve.
4655 )))
4656 |bEnSwLimit|BOOL|Whether to enable software limit
4657 |dSwPLimit|LREAL|Positive limit unit
4658 |dSwNLimit|LREAL|Reverse limit unit
4659 |dFollowThreShold|LREAL|Following error threshold Unit
4660 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4661 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4662 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4663 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4664 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4665 |bNoInErrorStop|BOOL|(((
4666 Don’t enter ErrorStop after hitting the limit
4667
4668 status.
4669
4670 Reserved
4671 )))
4672 |bHdPLimit|BOOL|(((
4673 Hardware positive limit
4674
4675 0: Positive logic;
4676
4677 1: Negative logic;
4678
4679 Reserved: Not in use yet.
4680 )))
4681 |bHdNLimit|BOOL|(((
4682 Hardware reverse limit (Read-only)
4683
4684 0: Positive logic;
4685
4686 1: Negative logic;
4687
4688 Reserved: Not in use yet.
4689 )))
4690 |bEnProbe1|BOOL|(((
4691 Touch probe 1 enable
4692
4693 Reserved
4694 )))
4695 |bEnProbe2|BOOL|(((
4696 Touch probe 2 enable
4697
4698 Reserved
4699 )))
4700 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4701 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4702 |nOutputWay|DWORD|(((
4703 Output mode
4704
4705 0: Pulse+Direction; 1: CW/CCW.
4706 )))
4707 |nCounterMode|DWORD|(((
4708 Counting mode
4709
4710 0: A/B phase 1 times frequency;
4711 )))
4712
4713 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4714 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4715 1: A/B phase 2 times frequency;
4716
4717 2: A/B phase 4 times frequency;
4718
4719 3: CW/CCW;
4720
4721 4: Pulse+Direction;
4722
4723 5: Single phase count.
4724 )))
4725 |(% style="width:187px" %)(((
4726
4727
4728
4729 nSignalSource
4730 )))|(% style="width:215px" %)(((
4731
4732
4733
4734 DWORD
4735 )))|(% style="width:361px" %)(((
4736 Signal source
4737
4738 0: X0-Phase A;
4739
4740 1: X1-Phase B;
4741
4742 2: X2-Phase A;
4743
4744 3: X3-Phase B.
4745 )))
4746 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4747 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4748 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4749 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4750 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4751 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4752 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4753 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4754 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4755 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4756 Homing signal
4757
4758 0: Not assigned;
4759
4760 1: Not used;
4761
4762 2: In use.
4763 )))
4764 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4765 Z signal.
4766
4767 0: Not assigned;
4768
4769 1: Not used;
4770
4771 2: In use.
4772 )))
4773 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4774 Positive limit
4775
4776 0: Not assigned;
4777
4778 1: Not used;
4779
4780 2: In use.
4781 )))
4782 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4783 Negative limit
4784
4785 0: Not assigned;
4786
4787 1: Not used;
4788
4789 2: In use.
4790 )))
4791 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4792 Homing direction:
4793
4794 0: Not assigned;
4795
4796 1: Forward;
4797
4798 2: Reverse
4799 )))
4800 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4801 Enter the detection direction.
4802
4803 0: Not assigned;
4804 )))
4805
4806 |**Name**|**Data type**|**Function**
4807 | | |(((
4808 0: Positive
4809
4810 2: Reverse
4811 )))
4812 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4813 |(((
4814
4815
4816 nReturnZero
4817 )))|(((
4818
4819
4820 BYTE
4821 )))|(((
4822 Homing mode
4823
4824 0: Absolute homing 1: Relative homing.
4825 )))
4826 |dReturnSpeed|LREAL|Homing speed Unit/s
4827 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4828 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4829 |nReturnTimeOut|DINT|Homing overtime time ms
4830 |bEnPLimit|BOOL|Positive limit enables
4831 |bEnNLimit|BOOL|Negative limit enable
4832 |bEnSignalLimit|BOOL|Homing signal enable
4833 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4834 Positive limit address X0~~X1023.
4835
4836 (The local pulse axis currently only supports hardware limit X0-X7)
4837 )))
4838 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4839 Reverse limit address X0~~X1023.
4840
4841 (The local pulse axis currently only supports hardware limit X0-X7)
4842 )))
4843 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4844 Homing signal address X0 to X1023
4845
4846 (The local pulse axis currently only supports hardware limit X0-X7)
4847 )))
4848 |nPLimitLogic|BOOL|(((
4849 Forward limit logic
4850
4851 0: Forward logic;
4852
4853 1: Reverse logic.
4854 )))
4855 |nNLimitLogic|BOOL|(((
4856 Negative limit logic.
4857
4858 0: Positive logic;
4859
4860 1: Negative logic.
4861 )))
4862 |nSignalLogic|BOOL|(((
4863 Homing signal logic
4864
4865 0: Positive logic;
4866
4867 1: Negative logic.
4868 )))
4869 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4870 |bReverse|BOOL|Reverse or not
4871 |bEnGearBox|BOOL|Enable gearbox
4872 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4873 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4874 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4875 |nGearRatioM|INT|Gear ratio molecule
4876 |nGearRatioD|INT|Gear ratio denominator
4877
4878 == **Others** ==
4879
4880 ----
4881
4882 === **Single axis motion control status diagram** ===
4883
4884 ----
4885
4886 (% style="text-align:center" %)
4887 [[image:1709016272018-406.png||height="669" width="631"]]
4888
4889 === **Axis group motion control status diagram** ===
4890
4891 ----
4892
4893 (% style="text-align:center" %)
4894 [[image:1709016323709-202.png]]
4895
4896
4897 === **Arc mode description** ===
4898
4899 ----
4900
4901 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4902 |(((
4903
4904
4905
4906 Features
4907 )))|(((
4908 The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4909
4910
4911 )))|(((
4912
4913
4914 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.
4915
4916
4917
4918 )))|(((
4919 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.
4920
4921 The direction of the vector determines the direction of CW and CCW circles.
4922
4923 The major arc and minor arc are determined by path choice.
4924 )))
4925 |(((
4926
4927
4928
4929 Description
4930 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4931 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4932 |(((
4933
4934
4935 Path choice
4936 )))|Invalid|(((
4937 CW and CCW circles
4938
4939 CCW mode
4940
4941 CW mode
4942 )))|(((
4943 Major and minor arcs
4944
4945 1: Minor arc
4946
4947 0: Major arc
4948 )))
4949 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4950 Restriction of angle less than 2π for single instruction
4951
4952 The vector perpendicular to the circular plane must be calculated.
4953 )))
4954
4955 === **Transition mode description** ===
4956
4957 ----
4958
4959 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4960
4961 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4962 |TransitionParameter|Invalid|Invalid|Specified velocity
4963
4964 === **Mode selection instructions** ===
4965
4966 ----
4967
4968 [[image:1709016491129-791.png]]
4969
4970 (% style="width:659px" %)
4971 |=(% style="width: 656px;" %)**Caution**
4972 |(% style="width:656px" %)(((
4973 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;
4974
4975 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.
4976
4977 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!
4978 )))
4979
4980 (1) mcAborting
4981
4982 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.
4983
4984 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.
4985
4986 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4987
4988 Figure8-1
4989
4990 (% style="text-align:center" %)
4991 [[image:1709016579583-740.png]]
4992
4993
4994 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4995
4996 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.
4997
4998 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.
4999
5000 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
5001
5002 Axis position is 1000u.
5003
5004 Figure8-2 The sequence diagram of normal working condition and mcAborting
5005
5006 (% style="text-align:center" %)
5007 [[image:1709016808830-880.png]]
5008
5009
5010 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.
5011
5012 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
5013
5014 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.
5015
5016 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.
5017
5018 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.
5019
5020 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.
5021
5022 This buffer mode is called mcAborting.
5023
5024 (2) mcBuffered
5025
5026 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.
5027
5028 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.
5029
5030 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.
5031
5032 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.
5033
5034 Figure8-3 Connections in mcBuffered
5035
5036 (% style="text-align:center" %)
5037 [[image:1709016841335-589.png]]
5038
5039 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.
5040
5041 and Done_1 is set, the work of the next function block will start immediately.
5042
5043 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.
5044
5045 Figure 8-4
5046
5047 (% style="text-align:center" %)
5048 [[image:1709016882878-958.png]]
5049
5050 mcBlending
5051
5052 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.
5053
5054 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.
5055
5056 Therefore, the mcBlending is divided into four types.
5057
5058 (1) mcBlendingLow.
5059
5060 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.
5061
5062 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.
5063
5064 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.
5065
5066 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
5067
5068 Figure 8-5 The connection of mcBlendingLow
5069
5070 (% style="text-align:center" %)
5071 [[image:1709016915405-788.png]]
5072
5073
5074 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.
5075
5076 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
5077
5078 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.
5079
5080 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
5081
5082 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.
5083
5084 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.
5085
5086 Figure 8-6 The sequence diagram of mcBlendingLow
5087
5088 (% style="text-align:center" %)
5089 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
5090
5091 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.
5092
5093 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
5094
5095 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.
5096
5097 mcBlendingPrevious
5098
5099 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.
5100
5101 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
5102
5103 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.
5104
5105 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.
5106
5107 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.
5108
5109 Figure 8-7 Sequence diagram of mcBlendingPrevious
5110
5111 (% style="text-align:center" %)
5112 [[image:1709017101626-838.png]]
5113
5114 mcBlendingNext
5115
5116 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.
5117
5118 Figure 8-8 shows the timing diagram of the mcBlendingNext.
5119
5120 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,
5121
5122 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.
5123
5124 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.
5125
5126 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.
5127
5128 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.
5129
5130 == **Error Code Cross-reference Table** ==
5131
5132 ----
5133
5134 |=**Error Code**|=**Error Definition**|=**Interpretation**
5135 |(% colspan="3" %)**Normal**
5136 |0x00|MC_ERROR_ID_SUCCESS|No error
5137 |(% colspan="3" %)**Run-time error**
5138 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
5139 Not feasible to compute
5140
5141 S-curve
5142 )))
5143 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
5144 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
5145 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
5146 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
5147 |(% colspan="3" %)**PLCOpen State-machine error**
5148 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
5149 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
5150 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
5151 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
5152 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
5153 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
5154 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
5155 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
5156 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
5157 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
5158 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
5159 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
5160 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
5161 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
5162 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
5163 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
5164 |(% colspan="3" %)**Error due to user/system limitations**
5165 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
5166 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
5167 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
5168 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
5169 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
5170 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5171 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5172 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5173 |0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5174 |(% colspan="3" %)**Error Stop**
5175 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5176 |(% colspan="3" %)**Error from servo**
5177 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
5178 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
5179 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
5180 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
5181 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
5182 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
5183 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
5184 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
5185 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
5186 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
5187 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
5188 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
5189 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
5190 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
5191 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
5192 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
5193 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
5194 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5195 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5196 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5197 |0x00600014|(((
5198 MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5199
5200 OVER_LIMIT
5201 )))|Pulse shaft HOME Velocity over limit
5202 |0x00600015|(((
5203 MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5204
5205 OVER_LIMIT
5206 )))|Pulse shaft HOME Acceleration over limit
5207 |0x00600020|(((
5208 MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5209
5210 NOTMAP
5211 )))|(((
5212 There is no required PDO for the mode
5213
5214 corresponding to mode switching.
5215 )))
5216 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5217 |(% colspan="3" %)**Axis’s error**
5218 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
5219 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
5220 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
5221 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
5222 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
5223 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
5224 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
5225 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
5226 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
5227 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
5228 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
5229 |0x0070000B|(((
5230 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
5231
5232 N
5233 )))|(((
5234 Axis can't combine while
5235
5236 running
5237 )))
5238 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
5239 |(% colspan="3" %)**General FB error**
5240 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
5241 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
5242 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
5243 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
5244 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
5245 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
5246 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
5247 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
5248 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
5249 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
5250 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
5251 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
5252 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
5253 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
5254 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
5255 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
5256 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
5257 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
5258 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
5259 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
5260 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
5261 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
5262 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
5263 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
5264 |(% colspan="3" %)**General axis group error**
5265 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
5266 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
5267 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
5268 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
5269 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
5270 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
5271 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
5272 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
5273 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
5274 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
5275 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
5276 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
5277 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
5278 |(% colspan="3" %)**Single axis planner error**
5279 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
5280 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
5281 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
5282 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
5283 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
5284 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
5285 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
5286 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
5287 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
5288 |(% colspan="3" %)**Axis group planner error**
5289 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
5290 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
5291 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5292 |(% colspan="3" %)**ECAM or EGEAR error**
5293 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5294 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5295 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5296 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5297 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5298 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5299 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5300 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5301 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5302 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5303 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5304 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5305 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5306 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5307 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5308 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5309 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5310 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5311 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5312 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5313 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5314 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5315
5316