08 Motion Control

Version 7.1 by Jiahao Lai on 2025/11/05 13:54

Management Function Blocks for Single-axis Motion Control

MC_POWER

This function block is a power-on software switch for the motion control system.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
Instruction	Parameter	X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_POWER	Enable	●	●	●	●	●
	EnablePositive	●	●	●	●	●
	EnableNegative	●	●	●	●	●
	Axis
	Status		●	●	●	●
	Valid		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R, SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_POWER	Enable	BOOL	No	TRUE/FALSE	Enable
	EnablePositive	BOOL	No	TRUE/FALSE	Allow motion in the positive direction
	EnableNegative	BOOL	No	TRUE/FALSE	Allow motion in negative direction
	Axis	WORD	No	0 to 65535	Axis number
	Status	BOOL	No	TRUE/FALSE	Enable status
	Valid	BOOL	No	TRUE/FALSE	Data valid or not
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	[Error code]

Function

This function block must be enabled if an axis is to participate in motion.
The function is as follows:

When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
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;
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;
If the PLC power supply fails during the motion, the state of the axis will switch to the ErrorStop state;
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;
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;
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.

Precautions

When any error occurs when the axis is enabled, it will be fed back through Error and ErrorID;
The PDO parameters of servo axis bound to the axis must have control word, status word, target position and current position.

Sequence diagram

When using a MC_POWER instruction and axis enables normally, sequence diagram is as follows:

When axis uses two MC_POWER instructions and axis enables normally, sequence diagram is as follows:

MC_READSTATUS

This function block is used to read the status of the controlled axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READSTATUS	Enable	●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Errorstop		●	●	●	●
	Disabled		●	●	●	●
	Stopping		●	●	●	●
	Homing		●	●	●	●
	Standstill		●	●	●	●
	DiscreteMotion		●	●	●	●
	ContinuousMotion		●	●	●	●
	SynchronizedMotion		●	●	●	●

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READSTATUS	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	Errorstop	BOOL	No	TRUE/FALSE	Error stop sign
	Disabled	BOOL	No	TRUE/FALSE	Inactive sign
	Stopping	BOOL	No	TRUE/FALSE	Stopping sign
	Homing	BOOL	No	TRUE/FALSE	Homing sign
	Standstill	BOOL	No	TRUE/FALSE	Static sign
	DiscreteMotion	BOOL	No	TRUE/FALSE	Discontinuous motion sign
	ContinuousMotion	BOOL	No	TRUE/FALSE	Continuous motion sign
	SynchronizedMotion	BOOL	No	TRUE/FALSE	Synchronized motion sign

Function

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;
When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

When using MC_READSTATUS with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:

MC_READMOTIONSTATE

This function block is used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READMOTIONSTATE	Enable	●	●	●	●	●
	Axis		●	●	●	●
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error
	ErrorID
	ConstantVelocity		●	●	●	●
	Accelerating		●	●	●	●
	Decelerating		●	●	●	●
	DirectionPositive		●	●	●	●
	DirectionNegative		●	●	●	●

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READMOTIONSTATE	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	ConstantVelocity	BOOL	No	TRUE/FALSE	Constant velocity
	Accelerating	BOOL	No	TRUE/FALSE	Accelerating
	Decelerating	BOOL	No	TRUE/FALSE	Decelerating
	DirectionPositive	BOOL	No	TRUE/FALSE	Positive direction
	DirectionNegative	BOOL	No	TRUE/FALSE	Negative direction

Function

Used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction;
When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

When using MC_READMOTIONSTATE with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:

MC_READAXISERROR

The function block provides fault information about the axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READAXISERROR	Enable	●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	AxisErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READAXISERROR	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	AxisErrorID	DWORD	No	-	Axis error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

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:

MC_READAXISINFO

The function block is used to provide information about the axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction

Parameter

Devices

Index modification

Pulse expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC_READAXISINFO

Enable

●

Axis

Valid

●

Busy

●

Error

●

ErrorID

HomeAbsSwitch

●

LimitSwitchPos

●

LimitSwitchNeg

●

ReadyForPowerOn

●

powerOn

●

IsHomed

●

AxisWarning

●

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READAXISINFO	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	HomeAbsSwitch	BOOL	No	TRUE/FALSE	Homing absolute position switch
	LimitSwitchPos	BOOl	No	TRUE/FALSE	Positive limit switch
	LimitSwitchNeg	BOOl	No	TRUE/FALSE	Negative limit switch
	ReadyForPowerOn	BOOl	No	TRUE/FALSE	Ready to enable
	powerOn	BOOl	No	TRUE/FALSE	Enable
	IsHomed	BOOl	No	TRUE/FALSE	Homing successful
	AxisWarning	BOOl	No	TRUE/FALSE	Axis warning

Function

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.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

When using MC_READAXISINFO with MC_POWER instruction together and axis enables normally, sequence diagram is as follows:

MC_READPARAMETER

This function block is used to read axis parameters.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READPARAMETER	Enable	●	●	●	●	●
	ParameterNumber															●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Value

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READPARAMETER	Enable	BOOL	No	TRUE/FALSE	Enable
	ParameterNumber	INT	No	1 to 17	Parameter number
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	Value	LREAL	No	-	Axis parameter value

Function

Used to read axis parameters, as shown in following table.

Parameter number PN	Parameter name	Data type	B/E	R/W	Notes
1	InstructionedPosition	REAL	B	R	Instruction position
2	SWLimitPos	REAL	E	R/W	Position of positive software limit switch
3	SWLimitNeg	REAL	E	R/W	Positive of negative software limit switch
4	EnableLimitPos	BOOL	E	R/W	Enable positive software limit switch
5	EnableLimitNeg	BOOL	E	R/W	Enable negative software limit switch
6	EnablePosLagMonitoring	BOOL	E	R/W	Enable position lag monitoring
7	MaxPositionLag	REAL	E	R/W	Maximum position lag
8	MaxVelocitySystem	REAL	E	R	Maximum allowable axial velocity in motion system
9	MaxVelocityAppl	REAL	B	R/W	Maximum allowable axial velocity in application
10	ActualVelocity	REAL	B	R	Actual velocity
11	InstructionedVelocity	REAL	B	R	Instructioned velocity
12	MaxAccelerationSystem	REAL	E	R	Maximum allowable axial acceleration in motion system
13	MaxAccelerationAppl	REAL	E	R/W	Maximum allowable axial acceleration in application
14	MaxDecelerationSystem	REAL	E	R	Maximum allowable axial deceleration in motion system
15	MaxDecelerationAppl	REAL	E	R/W	Maximum allowable axial deceleration in application
16	MaxJerkSystem	REAL	E	R	Maximum allowable axial jerk in motion system
17	MaxJerkAppl	REAL	E	R/W	Maximum allowable axial jerk in application system

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

When using MC_READPARAMETER with MC_MOVERELATIVE instruction together, in which ParameterNumber=1, and axis enables normally, sequence diagram is as follows:

MC_READBOOLPARAMETER

This function block is used to read axis Boolean parameters.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READBOOLPARAMETER	Enable	●	●	●	●	●
	ParameterNumber															●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Value		●	●	●	●

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READBOOLPARAMETER	Enable	BOOL	No	TRUE/FALSE	Enable
	ParameterNumber	INT	No	1 to 17	Parameter number
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	Value	BOOL	No	TRUE/FALSE	Axis parameter

Function

Used to read axis Boolean parameters, as shown in following table.

Parameter number PN	Parameter name	Data type	B/E	R/W	Notes
1	InstructionedPosition	REAL	B	R	Instruction position
2	SWLimitPos	REAL	E	R/W	Position of positive software limit switch
3	SWLimitNeg	REAL	E	R/W	Positive of negative software limit switch
4	EnableLimitPos	BOOL	E	R/W	Enable positive software limit switch
5	EnableLimitNeg	BOOL	E	R/W	Enable negative software limit switch
6	EnablePosLagMonitoring	BOOL	E	R/W	Enable position lag monitoring
7	MaxPositionLag	REAL	E	R/W	Maximum position lag
8	MaxVelocitySystem	REAL	E	R	Maximum allowable axial velocity in motion system
9	MaxVelocityAppl	REAL	B	R/W	Maximum allowable axial velocity in application
10	ActualVelocity	REAL	B	R	Actual velocity
11	InstructionedVelocity	REAL	B	R	Instructioned velocity
12	MaxAccelerationSystem	REAL	E	R	Maximum allowable axial acceleration in motion system
13	MaxAccelerationAppl	REAL	E	R/W	Maximum allowable axial acceleration in application
14	MaxDecelerationSystem	REAL	E	R	Maximum allowable axial deceleration in motion system
15	MaxDecelerationAppl	REAL	E	R/W	Maximum allowable axial deceleration in application
16	MaxJerkSystem	REAL	E	R	Maximum allowable axial jerk in motion system
17	MaxJerkAppl	REAL	E	R/W	Maximum allowable axial jerk in application system

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

MC_READACTUALVELOCITY

This function block is used to read the actual velocity of the controlled axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READACTUALVELOCITY	Enable	●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Velocity

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READACTUALVELOCITY	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	Velocity	LREAL	No	-	Actual velocity

Function

When the function block’s Enable is set, the MC_READACTUALVELOCITY output returns the actual velocity of the controlled single axis.

Precautions

This function block is not available when the axis does not exist;
When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.

Sequence diagram

MC_READACTUALPOSITION

This function block is used to read the actual absolute position of the axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READACTUALPOSITION	Enable	●	●	●	●	●
	Axis
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Position

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types；

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_READACTUALPOSITION	Enable	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Valid	BOOL	No	TRUE/FALSE	Output valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	Position	LREAL	No	-	Actual absolute position

Function

When the function block’s Enable is set, the MC_READACTUALPOSITION output returns the actual absolute position of the controlled single axis.

Precautions

This function block is not available when the axis does not exist;
0x6064 should be configured in the bus axis, otherwise it is invalid;
When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.

Sequence diagram

MC_RESET

This function block is used for clearing the faults of the controlled axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_RESET	Execute	●	●	●	●	●
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_RESET	Execute	BOOL	No	TRUE/FALSE	Enable
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

In the case of axis failure, call MC_RESET instruction and reset successfully, sequence diagram is as follows:

When driver cannot be reset, sequence diagram is as follows:

MC_SETPOSITION

This function block is used to set the position (absolute position or relative position) of the controlled axis.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_SETPOSITION	Execute	●	●	●	●	●
	Position
	Relative	●	●	●	●	●
	Execution Mode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_SETPOSITION	Execute	BOOL	No	TRUE/FALSE	Enable
	Position	LREAL	No	-9999999.00~9999999.00	Position
	Relative	BOOL	No	TRUE/FALSE	Set relative position or absolute position
	Execution Mode	WORD	No	0 to 2	Operation mode
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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;
At present, this command does not support triggering when the axis is in motion.

Precautions

This function block is not available when the axis does not exist.

Motion Function Blocks for Single-axis Motion Control

MC_STOP

This function block is used to change the state of the controlled axis to the deceleration stopping state.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_STOP	Execute	●	●	●	●	●
	Deceleration
	Jerk
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_STOP	Execute	BOOL	No	TRUE/FALSE	Enable
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Aborted sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:

When driver fails during the instruction running, sequence diagram is as follows:

MC_HOME

This function block is used to change the state of the controlled axis to the origin state.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_HMOE	Execute	●	●	●	●	●
	Position
	BufferMode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_HOME	Execute	BOOL	No	TRUE/FALSE	Enable
	Position	LREAL	No	0 to 9999999.00	Position
	BufferMode	WORD	No	0 to 5	Mode selection
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	Yes	TRUE/FALSE	Valid flag bit
	InstructionAborted	BOOL	No	TRUE/FALSE	Aborted sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:

MC_HALT

This function block is often used to stop the motion of the controlled axis under normal operating conditions.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																									Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_HALT	Execute	●	●	●	●	●
	Deceleration
	Jerk
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_HALT	Execute	BOOL	No	TRUE/FALSE	Enable
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Data valid or not
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Aborted sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:

After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:

When executing MC_HALT, showdown failure happens, sequence diagram is as follows:

MC_MOVEABSOLUTE

The function block makes the controlled axis reach the set absolute position with the input parameters.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVEABSOLUTE	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	Position
	Velocity
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_MOVEABSOLUTE	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation
	Position	LREAL	No	-9999999.00~9999999.00	Absolute position
	Velocity	LREAL	No	0 to 9999999.00	Velocity
	Acceleration	LREAL	No	0 to 9999999.00	Acceleration
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	BufferMode	WORD	No	0 to 5	Mode selection
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):

mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):

mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):

mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):

mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)

mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):

mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):

MC_MOVERELATIVE

The function block makes the controlled axis reach the set absolute position with the input parameters.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVERELATIVE	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	Distance
	Velocity
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_MOVERELATIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation
	Distance	LREAL	No	-9999999.00~9999999.00	Relative position
	Velocity	LREAL	No	0 to 9999999.00	Velocity
	Acceleration	LREAL	No	0 to 9999999.00	Acceleration
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	BufferMode	WORD	No	0 to 5	Mode selection
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):

mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):

mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):

mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)

mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)

mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):

McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):

MC_MOVEADDITIVE

This function block is a motion increment function block.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVEADDITIVE	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	Distance
	Velocity
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_MOVEADDITIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation
	Distance	LREAL	No	-9999999.00~9999999.00	Relative position
	Velocity	LREAL	No	0 to 9999999.00	Velocity
	Acceleration	LREAL	No	0 to 9999999.00	Acceleration
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	BufferMode	WORD	No	0 to 5	Mode selection
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

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:

MC_MOVESUPERIMPOSED

This function block is a motion superposition function block.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVESUPERIMPOSED	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	Distance
	VelocityDiff
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_MOVESUPERIMPOSED	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation
	Distance	LREAL	No	-9999999.00~9999999.00	Relative position
	VelocityDiff	LREAL	No	0 to 9999999.00	Velocity
	Acceleration	LREAL	No	0 to 9999999.00	Acceleration
	Deceleration	LREAL	No	0 to 9999999.00	Deceleration
	Jerk	LREAL	No	0 to 9999999.00	Jerk
	BufferMode	WORD	No	0 to 5	Mode selection
	Axis	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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).

Precautions

This function block is not available when the axis does not exist;
When it executes, the previous function block should be executed first.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

Management Function Blocks for Multi-axis Motion Control

MC_CAMTABLESELECT

This function block is used to bind the cam table.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_CAMTABLESELECT	Execute	●	●	●	●	●
	Periodic	●	●	●	●	●
	MasterAbsolute	●	●	●	●	●
	SlaveAbsolute	●	●	●	●	●
	Master
	Slave
	CamTable																	●
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	CamTableID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_CAMTABLESELECT	Execute	BOOL	No	TRUE/FALSE	Enable
	Periodic	BOOL	No	TRUE/FALSE	Cyclic mode setting
	MasterAbsolute	BOOL	No	TRUE/FALSE	Master axis position mode setting
	SlaveAbsolute	BOOL	No	TRUE/FALSE	Slave axis position mode setting
	Master	WORD	No	-	Master axis
	Slave	WORD	No	-	Slave axis
	CamTable	Cam table (INT type variable)	No	-	Cam table
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	CamTableID	WORD	No	-	Cam table identification number

Function

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;
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;
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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

MC_GENERATECAMTABLE

This function block is used to update the cam table.

Device used (Only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GENERATECAMTABLE	Execute
	CamTableID
	CamNode
	NodeNum
	Generatecam TableMode
	Done
	Busy
	InstructionAborted
	Error
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Pin	Parameter	Variable type	Can it be empty	Range	Description
MC_GENERATECAMTABLE	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		CamTableID	INT	No		Cam tableID
		CamNode	ARRAY (CAMNODET)	No	-	Array of cam nodes
		NodeNum	INT	No	2 ～361	Number of cam nodes
		GeneratecamTable Mode	INT	No		Effective mode 0： Effective in the next cam cycle; Others: Reserved
	Output	Done	BOOL	Yes	TRUE/FALSE	Busy flag
		BusY	BOOL	Yes	TRUE/FALSE	Aborted flag
		InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes		Whether there is an error or not
		ErrorID	DWORD	Yes		Error Code (Please check [8.10 Error Code Cross-reference Table] )

Function

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.

✎Note:

1. This function block is not available when the Cam table does not exist.

2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C

Sequence diagram

MC_SAVECAMTABLE

This function block is used to save the cam table.

Device used (Only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_SAVECAMTABLE	Execute
	CamTableID
	Done
	Busy
	InstructionAborted
	Error
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Pin	Parameter	Variable type	Can it be empty	Range	Description
MC_SAVECAMTABLE	Input	Execute	BOOL	No	TRUE/FALSE	Enable
	Input	CamTableID	INT	No	-	Cam tableID
	Output	Done	BOOL	Yes	TRUE/FALSE	Busy flag
		BusY	BOOL	Yes	TRUE/FALSE	Aborted flag
		InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	-	Whether there is an error or not
		ErrorID	DWORD	Yes	-	Error Code (Please check [8.10 Error Code Cross-reference Table]

Function

This function block is used to save the specified cam table.

✎Note:This function block is not available when the Cam table does not exist.

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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

Motion Function Block for Multi-axis Motion Control

MC_CAMIN

The function block enables the controlled axis to carry out cam motion.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_CAMIN	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	MasterIndex
	SlaveIndex
	MasterScaling
	SlaveScaling
	MasterStartDistance
	MasterSyncPosition
	StartMode
	MasterValueSource
	CamTableID
	BufferMode
	Master
	Slave
	InSync		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID
	EndOfProfile

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_CAMIN	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation (reserve)
	MasterIndex	LREAL	No	-9999999.00~9999999.00	Master axis offset
	SlaveIndex	LREAL	No	-9999999.00~9999999.00	Slave axis bias
	MasterScaling	LREAL	No	-9999999.00~9999999.00	Master axis scaling factor
	SlaveScaling	LREAL	No	-9999999.00~9999999.00	Slave axis scaling factor
	MasterStartDistance	LREAL	No	-9999999.00~9999999.00 (not 0)	Master axis starting distance
	MasterSyncPosition	LREAL	No	-9999999.00~9999999.00	Master axis synchronization position
	StartMode	WORD	No	0 to 2	Start mode (0-Absolute, 1-Relative, 2-Catchup)
	MasterValueSource	WORD	No	0 to 2	Master axis synchronization source (Instruction value, set value and actual value)
	CamTableID	WORD	No	0 to 9999999.00	Electronic CAM table identification
	BufferMode	WORD	No	0	Mode selection
	Master	WORD	No	-	Master axis
	Slave	WORD	No	-	Slave axis
	InSync	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code
	EndOfProfile	WORD	No	-	Electronic CAM end signal

Function

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.
MasterSyncPosition

MasterSyncPosition is the absolute position when the axis mode is absolute;

MasterSyncPosition is the relative position when the axis mode is relative;

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.
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.
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:

StartMode	SlaveAbsolute	Slave axis mode
Absolute	Relative	Relative
Absolute	Absolute	Absolute
Relative	Relative	Relative
Relative	Absolute	Relative
Catch up	Relative	Relative catch up
Catch up	Absolute	Relative catch up

Master axis mode	Slave axis mode	Result
Relative	Relative	When CAMIN is executed, slave axis position jumps to the set offset position; When master axis is executing, slave axis performs relative motion according to the start position of cam table.
	Absolute	When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0); When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
	Relative	When CAMIN is executed, slave axis position catches up to the set offset position; When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
	Absolute catch up	When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0); When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
Absolute	Relative	When CAMIN is executed, slave axis position jumps to the set offset position; When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
	Absolute	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;) After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
	Relative catch up	When CAMIN is executed, slave axis position catches up to the set offset position; When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
	Absolute catch up	When CAMIN is executed, slave axis position catches up 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;) After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.

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.

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);

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.
The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):

Master Position = Master Position * Master Multiplier + Master Offset

Slave position = Slave multiplier * CAM (spindle position) + Slave offset

The master-slave multiplier cannot be 0.

Precautions

This function block is not available when the axis does not exist;
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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

▪ 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.

(1) Slave motion varies depending on StartMode.

Assume that the start conditions for cam motion are as follows:

▪ 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.

▪ 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.

▪ 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.

Input variable	Condition 1	Condition 2	Condition 3
MasterAbsolute	True (Absolute)	True (Absolute)	True (Absolute)
SlaveAbsolute	True (Absolute)	True (Absolute)	FALSE (Relative)
StartMode	MC_START_MODE_ABSOLUTE	MC_START_MODE_RAMPIN	MC_START_MODE_RELATIVE
MasterSyncPosition	70	70	70
MasterDistace	50	50	50
MasterOffset	0	0	0
SlaveOffset	0	0	0
MasterScaling	1	1	1
SlaveScaling	1	1	1

(2) Slave motion varies depending on MasterAbsolute.

(3)Slave motion varies depending on SlaveAbsolute.

MC_CAMOUT

The function block enables the controlled axis to carry out uniform motion at current velocity.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_CAMOUT	Execute	●	●	●	●	●
	Slave
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_CAMOUT	Execute	BOOL	No	TRUE/FALSE	Enable
	Slave	WORD	No	0 to 65535	Slave axis
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

MC_GEARIN

The function block enables the controlled axis to carry out gear motion.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GEARIN	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	RatioNumerator
	RatioDenominator
	MasterValueSource
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Master
	Slave
	InGear		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_GEARIN	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Updated during operation (reserve)
	RatioNumerator	UNIT	No	[-32768,0)U(0,32767]	Gear velocity ratio (numerator)
	RatioDenominator	UDINT	No	(0,65535]	Gear velocity ratio (denominator)
	MasterValueSource	WORD	No	0 to 2	Master axis synchronization source (Instruction value, set value and actual value)
	Acceleration	LREAL	No	0 to 9999999.99999	Acceleration
	Deceleration	LREAL	No	0 to 9999999.99999	Deceleration
	Jerk	LREAL	No	0 to 9999999.99999	Jerk
	BufferMode	WORD	No	0 to 5	Selection
	Master	WORD	No	0 to 65536	Master axis
	Slave	WORD	No	0 to 65536	Slave axis
	InGear	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

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;
Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
The gear ratio is positive and the slave axis moves in the same direction as the master axis.

The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.

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.

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.

Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)
Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)

MC_GEAROUT

The function block enables the controlled axis to carry out uniform motion at current velocity.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GEAROUT	Execute	●	●	●	●	●
	Slave
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types;

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_GEAROUT	Execute	BOOL	No	TRUE/FALSE	Enable
	Slave	WORD	No	0 to 65535	Axis number
	Done	BOOL	No	TRUE/FALSE	Completion sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Sequence diagram

MC_GEARINPOS

The function block enables the controlled axis to carry out gear motion.

Device used (only a single device can be used, and device splicing and offset are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GEARINPOS	Execute	●	●	●	●	●
	RatioNumerator
	RatioDenominator
	MasterValueSource
	MasterSyncPosition
	SlaveSyncPosition
	SyncMode
	MasterStartDistance
	Velocity
	Acceleration
	Deceleration
	Jerk
	BufferMode
	Master
	Slave
	StartSync
	InSync		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

LC and HSC are signed 32-bit data types;
C, D, R and SD are signed 16-bit data types.

Variable Type Used

Instruction	Parameter	Variable type	Can be empty or not	Range	Description
MC_GEARINPOS	Execute	BOOL	No	TRUE/FALSE	Enable
	RatioNumerator	UNIT	No	[-32768,0)U(0,32767]	Gear velocity ratio (numerator)
	RatioDenominator	UDINT	No	(0,65535]	Gear velocity ratio (denominator)
	MasterValueSource	WORD	No	0 to 2	Master axis synchronization source (Instruction value, set value and actual value)
	MasterSyncPosition	LREAL	No	-9999999.999999 to 9999999.999999	Master axis synchronization position
	SlaveSyncPosition	LREAL	No	-9999999.999999 to 9999999.999999	Slave axis synchronization position
	SyncMode	WORD	No	0 to 2	Synchronous mode (shortest, catchup, slowdown)
	MasterStartDistance	LREAL	No	-9999999.999999 to 9999999.999999 (not 0)	Master axis starting distance
	Velocity	LREAL	No	0 to 9999999.999999 (not 0)	Velocity
	Acceleration	LREAL	No	0 to 9999999.999999 (not 0)	Acceleration
	Deceleration	LREAL	No	0 to 9999999.999999 (not 0)	Deceleration
	Jerk	LREAL	No	0 to 9999999.999999	Jerk
	BufferMode	WORD	No	0 to 5	Buffer mode selection
	Master	WORD	No	0 to 65535	Master axis
	Slave	WORD	No	0 to 65535	Slave axis
	StartSync	BOOL	No	TRUE/FALSE	Synchronous identification
	InSync	BOOL	No	TRUE/FALSE	Synchronized sign
	Busy	BOOL	No	TRUE/FALSE	Busy sign
	Active	BOOL	No	TRUE/FALSE	Valid sign
	InstructionAborted	BOOL	No	TRUE/FALSE	Abortion sign
	Error	BOOL	No	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	No	-	Error code

Function

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.

Precautions

This function block is not available when the axis does not exist.

Error code

Error code	Content
4084H	Data beyond the specifiable range was entered.

Sequence diagram

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;
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;
If the gear ratio is positive, the slave axis moves in the same direction as the master axis.

If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.

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.
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.

The master axis moves at a constant speed until synchronization is achieved (The gear instruction is triggered at a gear ratio of 1:1).
Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)

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:

Shortest: catching in constant acceleration mode;
Catchuo: catching in S-curve;
Slowdown: catching up in T-curve.

✎ 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.

Management functions of axis group motion control

MC_ADDAXISTOGROUP

The function block is to add axis to axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_ADDAXISTOGROUP	Execute	●	●	●	●	●
	IdentInGroup
	AxesGroup
	Axis
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_ADDAXISTOGROUP	Execute	BOOL	No	TRUE/FALSE	Enable
	IdentInGroup	WORD	No	[0 to 2]	Axis sequence flag
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Axis	WORD	No	[0 to 65535]	Axis number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;

▪IndentInGroup is a flag of the adding axis order to axis group.

✎Note:

▪If the serial number of the axis group does not exist, an error will be reported;

▪When the axis group is enabled, an error will be reported when add new axis;

▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

Sequence diagram

MC_REMOVEAXISFROMGROUP

This function block removes axis from an axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_REMOVEAXISFROMGROUP	Execute	●	●	●	●	●
	IdentInGroup
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_REMOVEAXISFROMGROUP	Execute	BOOL	No	TRUE/FALSE	Enable
	IdentInGroup	WORD	No	[0 to 2]	Axis sequence flag
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.

✎Note:▪If the serial number of the axis group does not exist, an error will be reported;

▪ Axis group is running or not disabled, and an error will be reported when removed the axis;

▪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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

Sequence diagram

MC_UNGROUPALLAXES

This function block removes all the axes from an axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_UNGROUPALLAXES	Execute	●	●	●	●	●
	AxesGroup
	Done		●	●	●	●
	BusY		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_UNGROUPALLAXES	Execute	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	BusY	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪Delete all axes from AxesGroup. Not be buffered and not move.

✎Note:

▪If the serial number of the axis group does not exist, an error will be reported;

▪ Axis group is running or not disabled, and an error will be reported when removed the axis;

Error code

Error code	Content
4084H	Input data beyond the specifiable range

Sequence diagram

MC_GROUPENABLE

The function block is axis group enabled.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_SAVECAMTABLE	Execute	●	●	●	●	●
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPENABLE	Execute	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪Enable axis group to run on the Execute rising edge.

✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;

▪When a single axis is running, enabling this block will report an error.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPDISABLE

This function block is axis group disabled.

Device used (Only a single device can be used, an d device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPDISABLE	Execute	●	●	●	●	●
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPDISABLE	Execute	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪On the Execute rising edge, disable the axis group.

✎Note:

▪Single axis operation can only be executed when the group is disabled.

▪When a single axis is running, disabling this block will report an error.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPREDACTUALPOSITION

MC_GROUPREADACTUALPOSITION

This function block is to read the actual position of each axis from the axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPREADA CTUALPOSITION	Enable	●	●	●	●	●
	CoordSystem
	AxesGroup
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Position

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPREADACTUALPOSITION	Enable	BOOL	No	TRUE/FALSE	Enable
	CoordSystem	WORD	Yes	0	Coordinate system
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Valid	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)
	Position	LREAL array	Yes		Position

Features

When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPREADACTUALVELOCITY

This function block is to read the actual velocity of each axis from the axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPREADACTUALVELOCITY	Enable	●	●	●	●	●
	CoordSystem
	AxesGroup
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Velocity
	PathVelocity

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPREADACTUALVELOCITY	Enable	BOOL	No	TRUE/FALSE	Enable
	CoordSystem	WORD	Yes	0	Coordinate system
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Valid	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)
	Velocity	LREAL array	Yes		Velocity
	PathVelocity	LREAL	Yes		Path velocity

Features

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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

MC_GROUPREADERROR

The function block is axis group to read error.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPREADERROR	Enable	●	●	●	●	●
	AxesGroup
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	GroupErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPREADERROR	Enable	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Valid	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)
	GroupErrorID	DWROD	Yes		Axis group error code

Features

▪When Enable= true, read the axis group error status.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPREADSTATUS

This function block reads the status of the currently activated axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPREADERROR	Enable	●	●	●	●	●
	AxesGroup
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	GroupErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPREADERROR	Enable	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Valid	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)
	GroupErrorID	DWROD	Yes		Axis group error code

Features

▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;

▪ConstantVelocity is set to ON when moving at constant velocity on the command path.Accelerating and decelerating is set to ON when the velocity increases or decreases on the command path.

▪ InPosition is set to ON when reach the target position.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPRESET

The function block is axis group reset.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPRESET	Execute	●	●	●	●	●
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPRESET	Execute	BOOL	No	TRUE/FALSE	Enable
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪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.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPREADACTUALACCELERATION

This function block is to read the actual acceleration of each axis from the axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPREADACTUALACCELERATION	Enable	●	●	●	●	●
	CoordSystem
	AxesGroup
	Valid		●	●	●	●
	Busy		●	●	●	●
	Error		●	●	●	●
	ErrorID
	Acceleration
	PathAcceleration

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPREADACTUALACCELERATION	Enable	BOOL	No	TRUE/FALSE	Enable
	CoordSystem	WORD	Yes	0	Coordinate system
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Valid	BOOL	Yes	TRUE/FALSE	Whether the input is valid or not
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)
	Acceleration	LREAL array	Yes		Acceleration
	PathAcceleration	LREAL	Yes		Path acceleration

Features

▪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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

Axis group motion Function Blocks

MC_GROUPSTOP

The function block is use to stop axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPSTOP	Execute	●	●	●	●	●
	Deceleration
	Jerk
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPSTOP	Execute	BOOL	No	TRUE/FALSE	Enable
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪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.

▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;

▪Only MC_GroupDisable can be used to interrupt axis group.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_GROUPHALT

The function block is to halt axis group.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_GROUPHALT	Execute	●	●	●	●	●
	Deceleration
	Jerk
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_GROUPHALT	Execute	BOOL	No	TRUE/FALSE	Enable
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪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;

▪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.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

MC_MOVELINEARABSOLUTE

This function block is absolute position linear interpolation.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVELINEARABSOLUTE	Execute	●	●	●	●	●
	Position
	Velocity
	Acceleration
	Deceleration
	Jerk
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;
Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVELINEARABSOLUTE	Execute	BOOL	No	TRUE/FALSE	Enable
	Position	LREAL array	No	-	Position
	Velocity	LREAL	No	[0 to 999999999. 999999]	Velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	Acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk is valid in S curve only.
	CoordSystem	WORD	Yes	0	Coordinate system
	BufferMode	WORD	Yes	[0 to 1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.

✎Note:

▪The axis group can be moved only when being enabled;

▪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.

▪Linear motion is allowed to be interrupted;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_MOVELINEARRELATIVE

This function block is relative position linear interpolation.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVELINEARRELATIVE	Execute	●	●	●	●	●
	Distance
	Velocity
	Acceleration
	Deceleration
	Jerk
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVELINEARRELATIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	Distance	LREAL array	No	-	Position
	Velocity	LREAL	No	[0 to 999999999. 999999]	Velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	Acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk: Only the axis group S-curve is valid.
	CoordSystem	WORD	Yes	-	Coordinate system
	BufferMode	WORD	Yes	[0 to 1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check【8. 10 Error Code Cross-reference Table】)

Features

▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.

✎Note:▪The axis group can be moved only when being enabled;

▪Linear motion is allowed to be interrupted;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_MOVECIRCULARABSOLUTE

The function block is absolute position circular interpolation.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVECIRCULARABSOLUTE	Execute	●	●	●	●	●
	CircMode
	AuxPoint
	EndPoint
	PathChoice
	Velocity
	Acceleration
	Deceleration
	Jerk
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;
Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVECIRCULARABSOLUTE	Execute	BOOL	No	TRUE/FALSE	Enable
	CircMode	WORD	No	[0 to 2]	Please check [8.9.3 Arc mode description] for more details on arc construction mode.
	AuxPoint	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on auxiliary point.
	EndPoint	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on end point.
	PathChoice	WORD	No	[0 to 1]	Please check [8.9.3 Arc mode description] for more details on arc path selection.
	Velocity	LREAL	No	[0 to 999999999. 999999]	Velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	Acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk is valid in S-curve only.
	CoordSystem	WORD	Yes	0	Coordinate system
	BufferMode	WORD	Yes	[0 to 1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.

✎Note:

▪The axis group can be moved only when being enabled;

▪Linear motion is allowed to be interrupted;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_MOVECIRCULARRELATIVE

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVECIRCULARRELATIVE	Execute	●	●	●	●	●
	CircMode
	AuxPoint
	EndPoint
	PathChoice
	Velocity
	Acceleration
	Deceleration
	Jerk
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVECIRCUlARRELATIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	CircMode	WORD	No	[0 to 2]	Please check [8.9.3 Arc mode description] for more details on arc construction mode.
	AuxPoint	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on auxiliary point.
	EndPoint	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on end point.
	PathChoice	WORD	No	[0 to 1]	Please check [8.9.3 Arc mode description] for more details on arc path selection.
	Velocity	LREAL	No	[0 to 999999999. 999999]	Velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	Acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	Jerk:is valid in S-curve only.
	CoordSystem	WORD	Yes	-	Coordinate system
	BufferMode	WORD	Yes	[0 to 1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.

✎Note:

▪The axis group can be moved only when being enabled;

▪Linear motion is allowed to be interrupted;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_MOVEDIRECTABSOLUTE

This function block is the fast positioning of absolute position.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVECIRCULARRELATIVE	Execute	●	●	●	●	●
	Position
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVELINEARRELATIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	Position	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on arc construction mode.
	CoordSystem	WORD	Yes	0	Coordinate system
	BufferMode	WORD	Yes	[0 to 1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪ 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;

▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.

✎Note:

▪The axis group can be moved only when being enabled;

▪Linear motion is allowed to be interrupted;

▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Data beyond the specifiable range was input.

MC_MOVEDIRECTRELATIVE

The function block executes the fast positioning of the relative position.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVEDIRECTRELATIVE	Execute	●	●	●	●	●
	Distance
	CoordSystem
	BufferMode
	TransitionMode
	TransitionParameter
	AxesGroup
	Done		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVEDIRECTRELATIVE	Execute	BOOL	No	TRUE/FALSE	Enable
	Distance	LREAL array	No	-	Please check [8.9.3 Arc mode description] for more details on arc construction mode.
	CoordSystem	WORD	Yes	0	Coordinate system
	BufferMode	WORD	Yes	[0 to1]	Please check [8.9.5 Mode selection description] for more details.
	TransitionMode	WORD	Yes	[0 to 2]	Please check [8.9.4 Transition mode description] for more details.
	TransitionParameter	LREAL	Yes	[0 to 999999999. 999999]	Please check [8.9.4 Transition mode description] for more details on transition parameter.
	AxesGroup	WORD	No	[0 to 65535]	Axis group number
	Done	BOOL	Yes	TRUE/FALSE	Completion flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table])

Features

▪ 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;

▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.

✎Note:

▪The axis group can be moved only when being enabled;

▪Linear motion is allowed to be interrupted;

▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;

▪Axis group don’t support S type curve, so acceleration is not taking effect.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

Other special FB

MC_MOVEJOG

The function block makes the controlled axis execute micro motion at the set target velocity.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVEJOG	EnablePositive	●	●	●	●	●
	EnableNegative	●	●	●	●	●
	Velocity
	Acceleration
	Deceleration
	Axis
	Busy		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVEJOG	EnablePositive	BOOL	No	TRUE/FALSE	Positive motion
	EnableNegative	BOOL	No	TRUE/FALSE	Negative motion
	Velocity	LREAL	No	[0 to 999999999. 999999]	Velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	Acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	Deceleration
	Axis	WORD, AXIS_INFO_T	No	[0 to 65535]	Axis number
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity.

▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.

▪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.

✎Note:

▪This function is not available when the axis does not exist.

▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC_COMBINEAXES

The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_COMBINEAXES	Execute	●	●	●	●	●
	ConbineMode
	MasterReferenceType
	AuxiliaryReferenceType
	BufferMode
	Master
	Auxiliary
	Slave
	InCombiantion		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_COMBINEAXES	Execute	BOOL	No	TRUE/FALSE	Enable
	ConbineMode	WORD	Yes	[0 to 1]	Addition and subtraction operation selection 0: Addition 1: Subtraction
	MasterReferenceType	WORD	Yes	[1 to 2]	Master axis position type 1: Feedback position 2: Instruction position
	AuxiliaryReferenceType	WORD	Yes	[1 to 2]	Auxiliary axis position type 1: Feedback position 2: Instruction position
	BufferMode	LREAL	No	0	Mode selection
	Master	WORD, AXIS INFO T	No	[0 to 65535]	Master axis number
	Auxiliary	WORD, AXIS INFO T	No	[0 to 65535]	Auxiliary axis number
	Slave	WORD, AXIS INFO T	No	[0 to 65535]	Slave axis number
	InCombiantion	BOOL	Yes	TRUE/FALSE	Addition and subtraction operation flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪On the Execute rising edge, the addition and subtraction positioning operation is performed.

✎Note:

▪Unable to restart this instruction;

▪To end this instruction, MC_construction is needed;

▪This instruction does not execute in-place inspection;

▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;

▪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;

▪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.

Error code

Error code	Content
7000OA	Axis is in a bound status.
7000OB	Axis cannot be bound at run time.
800014	The master axis is consistent with the slave axis.
800015	The master axis is consistent with the auxiliary axis.
800016	The auxiliary axis is consistent with the slave axis.
800017	Master axis (auxiliary axis) and slave axis numbers are not ascending order.

MC_MOVEVELOCITY

Device used (Only a single device can be used, and device splicing and index are not supported)

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_MOVEVELOCITY	Execute	●	●	●	●	●
	ContinuousUpdate	●	●	●	●	●
	Velocity
	Acceleration
	Deceleration
	Jerk
	Direction
	BufferMode
	Axis
	InVelocity		●	●	●	●
	Busy		●	●	●	●
	Active		●	●	●	●
	InstructionAborted		●	●	●	●
	Error		●	●	●	●
	ErrorID

Precautions for use of devices

▪LC and HSC are signed 32-bit data types;

▪T, C, D, R and SD are signed 16-bit data types;

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC_MOVEVELOCITY	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	No	TRUE/FALSE	Reserve
	Velocity	LREAL	No	[0 to 999999999. 999999]	The set velocity
	Acceleration	LREAL	No	[0 to 999999999. 999999]	The set acceleration
	Deceleration	LREAL	No	[0 to 999999999. 999999]	The set deceleration
	Jerk	LREAL	Yes	[0 to 999999999. 999999]	The set jerk is only valid in the S-curve.
	Direction	WORD	No	[1]	Direction flag 1: Positive direction 2: Negative direction 3: Current direction 4: Shortest path
	BufferMode	WORD	Yes	[0]	Buffer mode
	Axis	WORD, AXIS INFO T	No	[0 to 65535]	Axis number and axis in-built variable
	InVelocity	BOOL	Yes	TRUE/FALSE	Reach the set velocity flag
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Valid flag
	InstructionAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please check [8. 10 Error Code Cross-reference Table] )

Features

▪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.

▪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;

▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.

▪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.

▪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.

▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;

▪MC_MOVEVELOCITY function block can be triggered repeatedly.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

MC _ MOVEVELOCITY _ CSV

MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block

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.

Device used (only a single device can be used, device splicing and index are not supported)

Instruction

Parameter

Device

Index

Modification

Pulse

Expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ MOVEVELOCITY

_ CSV

Execute

●

ContinuousUpdate

●

Velocity

Acceleration

Deceleration

Jerk

Direction

BufferMode

Axis

InVelocity

●

Busy

●

Active

●

CommandAborted

●

Error

●

Error ID

Notes:

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Can it be empty	Range	Description
MC _ MOVE VELOCITY _ CSV	Execute	BOOL	No	TRUE/FALSE	Enable
	ContinuousUpdate	BOOL	Yes	TRUE/FALSE	Whether update continuously or not
	Velocity	LREAL	No	[0,999999999.999999]	Setting velocity
	Acceleration	LREAL	No	[0,999999999.999999]	Setting acceleration
	Deceleration	LREAL	No	[0,999999999.999999]	Set deceleration
	Jerk	LREAL	Yes	[0,999999999.999999]	The set jerk is only effective in S-curve.
	Direction	WORD	No	[1,4]	Direction flag bit (Only rotation mode takes effect）。 1. Positive direction; 2. Negative direction; 3. The current direction; 4. The shortest path (reserved).
	BufferMode	WORD	Yes	[0]	BufferMode
	Axis	WORD	No	[0,65535]	Axis number and built-in variable of axis
	InVelocity	BOOL	Yes	TRUE/FALSE	Reach the set velocity flag bit
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	Active	BOOL	Yes	TRUE/FALSE	Activity flag
	Command aborted	BOOL	Yes	TRUE/FALSE	Interrupt flag bit
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	Error ID	DWORD	Yes	-	Error code (Please refer to [8.11 Error code comparison table])

Function

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.
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;
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;
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;
The MC _ MoveVelocity function block can be triggered repeatedly multiple times.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

Precautions

Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.

Timing diagram

MC _ SYNCMOVEVELOCITY

MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block

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.

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index modification

Pulse expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ SYNCMOVE

VELOCITY

Execute

●

Velocity

Axis

InVelocity

●

Busy

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Parameter	Variable type	Empty or not	Range	Description
MC _ SYNCMOVE VELOCITY	Execute	BOOL	No	TRUE/FALSE	Enable
	Velocity	LREAL	No	[0,999999999.999999]	Setting velocity
	Axis	WORD	No	[0,65535]	Axis number and built-in variable of axis
	InVelocity	BOOL	Yes	TRUE/FALSE	Reach the set velocity flag bit
	Busy	BOOL	Yes	TRUE/FALSE	Busy flag
	CommandAborted	BOOL	Yes	TRUE/FALSE	Interrupt flag bit
	Error	BOOL	Yes	TRUE/FALSE	Whether there is an error or not
	ErrorID	DWORD	Yes	-	Error code (Please refer to 8.11 Error Code

Function

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.
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;
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;
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;
The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.

✎Note: After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.

Error code

Error code	Content
4084H	Input data beyond the specifiable range

Timing diagram

MC _ SETTORQUE

MC _ SETTORQUE-Synchronous torque instruction

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index

Modification

Pulse

Expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ SETTORQUE

Execute

●

TORQUE

MaxVelocity

BufferMode

Axis

InTorque

●

Busy

●

Active

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Pin Type	Parameter	Variable type	Empty or not	Range	Description
MC _ SETTORQUE	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		ContinuousUpdate	BOOL	Yes	TRUE/FALSE	Updated during operation
		Torque	LREAL	No	[-32768,32767]	Target torque (unit is 0.1%)
		MaxVelocity	LREAL	No	[0,999999999.999999]	Maximum speed
		BufferMode	WORD	Yes	[0]	Currently only interrupts are supported
		Axis	WORD	No	[0,65535]	Axis number
	Output	InTorque	BOOL	Yes	TRUE/FALSE	Completion flag
		Busy	BOOL	Yes	TRUE/FALSE	Busy flag
		Active	BOOL	Yes	TRUE/FALSE	Valid flag
		CommandAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	TRUE/FALSE	Error or not
		ErrorID	DWORD	Yes	-	Error code ( Please refer to [8.11 Error code comparison table])

Function

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.
The following PDOs need to be configured in CST mode;

0x1600: 0x6060, 0x6071, 607f (optional), 6040

0x1A00: 0x6061, 0x6077, 0x6041

If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
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;
This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
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;

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.

Note

This function block is not available when the axis does not exist.

MC _ TORQUECONTROL

MC _ TORQUECONTROL-Torque control command

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index

Modification

Pulse

Expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ TORQUE

CONTROL

Execute

●

ContinuousUpdate

●

TORQUE

TorqueRamp

MaxVelocity

BufferMode

Axis

InTorque

●

Busy

●

Active

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Pin Type	Parameter	Variable type	Empty or not	Range	Description
MC _ TORQUECONTROL	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		ContinuousUpdate	BOOL	Yes	TRUE/FALSE	Updated during operation
		Torque	LREAL	No	[-32768,32767]	Target torque (unit is 0.1%）
		MaxVelocity	LREAL	No	[0,999999999.999999]	Maximum speed
		TorqueRamp	LREAL	No	[0,999999999.999999]	Torque slope
		BufferMode	WORD	Yes	[0]	Only interrupt mode supported
		Axis	WORD	No	[0,65535]	Axis number
	Output	InTorque	BOOL	Yes	TRUE/FALSE	Completion flag
		Busy	BOOL	Yes	TRUE/FALSE	Busy flag
		Active	BOOL	Yes	TRUE/FALSE	Valid flag
		CommandAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	TRUE/FALSE	Error or not
		ErrorID	DWORD	Yes	-	Error code (Please refer to [8.11 Error code comparison table])

Function

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.
The following PDOs need to be configured in CST mode:

0x1600: 0x6060, 0x6071, 607f (optional), 6040

0x1A00: 0x6061, 0x6077, 0x6041

If VD3E is used, the value of startup parameter 2001:9 is 2;

Function description

This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
This instruction uses the driver synchronous torque mode to realize the torque control function;
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;

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;

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;

Speed control in torque mode

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;

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;

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;

For third-party drives, Velocity can only be used as a speed limit under the following conditions:

The maximum speed of the servomotor can be limited by 0x607F;

0x607F can be configured into the PDO;

The unit of 0x607F is pulse unit, non-speed unit.

Stop control on torque mode

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.

Interrupt

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;

CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;

The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.

Timing diagram

After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.

After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.

MC _ MOVEABSRELPP

MC _ MOVEABSRELPP-Positioning instruction based on contour position mode

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index modification

Pulse

Expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ MOVEA

BSRELPP

Execute

●

Position

Velocity

Acceleration

Deceleration

Mode

Axis

Done

●

Busy

●

Active

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Pin Type	Parameter	Variable type	Empty or not	Range	Description
MC _ MOVE ABSRELPP	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		Mode	INT	No	0,1	1: Absolute mode. 1: Relative mode
		Position	LREAL	No	-999999999.999999 999999999.999999	Target location
		Velocity	LREAL	No	（0,999999999.999999]	Velocity
		Acceleration	LREAL	No	（0,999999999.999999]	Acceleration
		Deceleration	LREAL	No	（0,999999999.999999]	Deceleration
		Axis	WORD	No	[0,65535]	Axis number
	Output	Done	BOOL	Yes	TRUE/FALSE	Completion flag
		Busy	BOOL	Yes	TRUE/FALSE	Busy flag
		Active	BOOL	Yes	TRUE/FALSE	Valid flag
		CommandAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	TRUE/FALSE	Error or not
		ErrorID	DWORD	Yes	-	Error code (Please refer to [8.11 Error code comparison table])

Function

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.
Contour Position Mode requires the following PDOs:

0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040

0x1A00: 0x6061, 0x6064, 0x6041

Function description

This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
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;
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;
When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
Interrupt

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;

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.

Timing diagram

MC _ MOVEVELOCITYPV

MC _ MOVEVELOCITYPV-Contour Speed Command

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index

Modification

Pulse

Expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ MOVEVELO

CITYPV

Execute

●

Velocity

Acceleration

Deceleration

Axis

InVelocity

●

Busy

●

Active

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Pin type	Parameter	Variable Type	Can you Is empty	Range	Description
MC _ MOVEVE LOCITYPV	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		Velocity	LREAL	No	-999999999.999999 999999999.999999	Velocity
		Acceleration	LREAL	No	（0,999999999.999999]	Acceleration
		Deceleration	LREAL	No	The QPS Exceeds Maximum Limit 5	Deceleration
		Axis	WORD	No	[0,65535]	Axis number
	Output	InVelocity	BOOL	Yes	TRUE/FALSE	Completion flag
		Busy	BOOL	Yes	TRUE/FALSE	Busy flag
		Active	BOOL	Yes	TRUE/FALSE	Valid flag
		CommandAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	TRUE/FALSE	Error or not
		ErrorID	DWORD	Yes	-	Error code (Please refer to [8.11 Error code comparison table])

Function

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;
This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
The following PDOs are required for the profile speed mode:

0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040

0x1A00: 0x6061, 0x606c, 0x6041

Function description

This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
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.

Timing diagram

MC _ TORQUECONTROLPT

MC _ TORQUECONTROLPT-Contour torque control command

Device used (only a single device can be used, and device splicing and Index are not supported)

Instruction

Parameter

Device

Index modification

Pulse expansion

T(bit)

C(bit)

LC(bit)

HSC(bit)

D.b

KnX

KnY

KnM

KnS

HSC

[D]

XXP

MC _ TORQUE

CONTROLPT

Execute

●

TORQUE

TorqueRamp

MaxVelocity

Axis

InTorque

●

Busy

●

Active

●

CommandAborted

●

Error

●

ErrorID

Notes for using devices

LC and HSC are signed 32-bit data types;
T, C, D, R and SD are signed 16-bit data types.

Variable type used

Instruction	Pin Type	Parameter	Variable type	Empty or not	Range	Description
MC_ TORQUECONTROLPT	Input	Execute	BOOL	No	TRUE/FALSE	Enable
		Torque	LREAL	No	[-32768,32767]	Target torque (unit is 0.1%)
		TorqueRamp	LREAL	No	（0,999999999.999999]	Torque slope
		MaxVelocity	LREAL	No	[0,999999999.999999]	Maximum speed
		Axis	WORD	No	[0,65535]	Axis number
	Output	InTorque	BOOL	Yes	TRUE/FALSE	Completion flag
		Busy	BOOL	Yes	TRUE/FALSE	Busy flag
		Active	BOOL	Yes	TRUE/FALSE	Valid flag
		CommandAborted	BOOL	Yes	TRUE/FALSE	Abortion flag
		Error	BOOL	Yes	TRUE/FALSE	Error or not
		ErrorID	DWORD	Yes	-	Error code (Please refer to [8.11 Error code comparison table])

Function

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;
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;
Profile torque mode needs to be configured with the following PDOs:

0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040

0x1A00: 0x6061, 0x6077, 0x6041

Function description

This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
This instruction uses the driver synchronous torque mode to realize the torque control function;
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;

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;

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.

Speed control in torque mode

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;

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;

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;

For third-party drives, Velocity can only be used as a speed limit under the following conditions:

The maximum speed of the servomotor can be limited by 0x607F;

0x607F can be configured into the PDO;

The unit of 0x607F is pulse unit, non-speed unit.

Stop control on torque mode

Interrupt

CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;

The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.

Timing diagram

SDO instruction

MC_READSDO reads SDO data

MC_READSDO

This instruction is used to read the value of the servo object dictionary.

- [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]

Content, range and data type

Parameter	Content	Range	Data type	Data type (Table)
(S1)	Object dictionary index	-	Unsigned BIN16	ANY16_U
(S2)	Object dictionary subindex	-	Unsigned BIN16	ANY16_U
(S3)	Length (BYTE unit)	-	Unsigned BIN16	ANY16_U
(D1)	The read device	-	Define the size according to S3.	-
(S4)	Specify the servo station number	-	Signed BIN16	ANY16_S

Device used

Instruction	Parameter	Devices																									Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READSDO	Parameter 1																	●	●	●	●	●	●
	Parameter 2																	●	●	●	●	●	●
	Parameter 3																	●	●	●	●	●	●
	Parameter 4																	●	●	●	●
	Parameter 5																	●	●	●	●	●	●

Features

▪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).

✎Note:

▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.

MC_WRITESD0 writes SDO data

MC_WRITESDO

This instruction is used to write the value of the servo object dictionary.

-[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]

Content, range and data type

Parameter	Content	Range	Data type	Data type (Table)
(S1)	Object dictionary index	-	Unsigned BIN16	ANY16_U
(S2)	Object dictionary sub-index	-	Unsigned BIN16	ANY16_U
(S3)	Length (BYTE unit)	-	Unsigned BIN16	ANY16_U
(S4)	The value to be written	-	Define the size according to S3.	-
(S5)	Specify the servo station number	-	Signed BIN16	ANY16_S

Device used

Instruction	Parameter	Devices																								Index modification	Pulse expansion
		X	Y	M	S	SM	T(bit)	C(bit)	LC(bit)	HSC(bit)	D.b	KnX	KnY	KnM	KnS	T	C	D	R	SD	LC	HSC	K	H	E	[D]	XXP
MC_READSDO	Parameter 1																	●	●		●	●	●	●
	Parameter 2																	●	●		●	●	●	●
	Parameter 3																	●	●		●	●	●	●
	Parameter 4																	●	●		●	●
	Parameter 5																	●	●		●	●	●	●

Features

▪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).

✎Note:

▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.

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Built-in variables of pulse axis system

The current state of the axis can be monitored in the program by its system variables.

Name	Data type	Function
Cfg	AXIS_INFO_CFG_T	Axis configuration
wAxisID	WORD	Axis number (Read only)
wVersion	WORD	Version number (Read only)
wAxisType	WORD	Axis type (Read only): Bus servo axis Bus encoder axis
nEtherCATNo	DINT	EtherCAT axis number
nLocalID	DINT	Local axis ID. Y0/Y1 is 0; Y2/Y3 is 1; Y4/Y5 is 2; Y6/Y7 is 3.
bVirtualAxis	BOOL	Virtual axis or not
Cmd	AXIS_INFO_CMD_T	Setting value
fSetPosition	LREAL	Setting position (Read only)
fSetVelocity	LREAL	Setting speed (Read only)
fSetAcceleration	LREAL	Setting acceleration (Read only)
fSetDeceleration	LREAL	Actual deceleration (Read only)
fSetJerk	LREAL	Setting jerk (Read only)
fSetTorque	LREAL	Setting torque (Read only) Reserved
nLocalAxisSetPos	DINT	Local pulse axis setting position (Read only)
Act	AXIS_INFO_ACT_T	Current value
fActPosition	LREAL	Current position (Read only)
fActVelocity	LREAL	Current speed (Read only)
fActAcceleration	LREAL	Actual acceleration (Read only)
fActDeceleration	LREAL	Actual deceleration (Read only)
fActJerk	LREAL	Actual jerk (Read only)
fActTorque	LREAL	Current torque (Read only) Reserved
fFollowPos	LREAL	Following error (Read only)
nLocalAxisActPos	DINT	Local pulse axis current position (Read only)
nLocalAxisActFrequency	DINT	Local pulse axis current frequency (Read only)
Status	AXIS_INFO_STATUS_T	Axis status
wAxisState	WORD	Axis status (Read only)

Name	Data type	Function
wAxisError	DWORD	Axis error code (Read only)
wMotionState	WORD	Motion status (Read only)
bPowerState	BOOL	Axis enabled status (Read only)
bphLimit	BOOL	Hardware positive limit (Read only)
bnhLimit	BOOL	Hardware reverse limit (Read only)
bHomeState	BOOL	Homing limit (Read only)
bPsLimit	BOOL	Software positive limit (Read only)
bnsLimit	BOOL	Software reverse limit (Read only)
bTarDir	BOOL	Direction of motion (Read only)
Dbg	AXIS_DEBUG_T	Axis debugging information
bAxisDebug	BOOL	Axis debugging switch
bPower	BOOL	Axis enable
bStop	BOOL	Axis stop
bReset	BOOL	Axis reset
bJogP	BOOL	JOG+
bJopN	BOOL	JOG-
bHome	BOOL	Homing
bSetPos	BOOL	Set the current position
bAbsPos	BOOL	Absolute positioning
bRevPos	BOOL	Reciprocating motion:
bRelPos	BOOL	Relative positioning
bVelocity	BOOL	Continuous motion
bTorque	BOOL	Torque Mode Reserved
fPresetPosition	LREAL	Preset position
fJogVelocity	LREAL	JOG speed
fPositionOffser	LREAL	Homing mode offset
fTarPosition	LREAL	Target position
fTarVelocity	LREAL	Target velocity
fTarAcceleration	LREAL	Target acceleration
fTarDeceleration	LREAL	Target deceleration
fTarJerk	LREAL	Target jerk
fTarPosition2	LREAL	Target position 2

Name	Data type	Function
fTarVelocity2	LREAL	Target speed 2
fTarAcceleration2	LREAL	Target jerk 2
fTarDeceleration2	LREAL	Target deceleration 2
fTarJerk2	LREAL	Target jerk 2
fTarTorque	LREAL	Target torque Reserved
fTarTorqueSlop	LREAL	Torque ramp Reserved
fLimitVelocity	LREAL	Limit the speed. Reserved
Pdo	AXIS_INFO_PDO_T	PDO information
wControlWord	WORD	Control word
wStatusWord	WORD	Status word
nSetPosition	DINT	Setting position
nActPosition	DINT	Current position
nSetVelocity	DINT	Setting speed
nActVelocity	DINT	Current speed
nSetTorque	DINT	Setting torque (Read only) Reserved
nActTorque	DINT	Current torque Reserved
nDO	DINT	Digital output Reserved
nDI	DINT	Digital input Reserved
wModesOfPperation	WORD	Control mode
wModesOfPperationDisplay	WORD	Current control mode
wTouchFunction	WORD	Touch probe function settings
wTouchStaus	WORD	Probe touch status
nTouch1PPos	DINT	Rising edge position of touch probe 1
nTouch1NPos	DINT	Falling edge position of touch probe 1
nTouch2PPos	DINT	Rising edge position of touch probe 2
nTouch2NPos	DINT	Falling edge position of touch probe 2
nMaxVelocity	DINT	Maximum velocity Reserved
pParam	AXIS_MODEPARAM_INFO_T	Parameter information
nEncoderMode	BYTE	Encoder model.

Name	Data type	Function
		0: Incremental mode 1: Absolute mode.
nModeSet	BYTE	Mode settings. 0: Linear mode 1: Rotation mode.
dRotatePeriod	LREAL	Rotation cycle
nSpeedADType	BYTE	Speed acceleration and deceleration type. 0: Default mode; 1: T-curve; 2: S-curve.
bEnSwLimit	BOOL	Whether to enable software limit
dSwPLimit	LREAL	Positive limit unit
dSwNLimit	LREAL	Reverse limit unit
dFollowThreShold	LREAL	Following error threshold Unit
dAxisMaxSpeed	LREAL	Axis maximum velocity unit/s
dAxisMaxASpeed	LREAL	Axis maximum acceleration unit/s^2
dAxisMaxJogSpeed	LREAL	Axis Jog Maximum Speed Unit/s
nPMaxTorque	DINT	Positive torque maximum*0.1%
nNMaxTorque	DINT	Negative torque maximum*0.1%
bNoInErrorStop	BOOL	Don’t enter ErrorStop after hitting the limit status. Reserved
bHdPLimit	BOOL	Hardware positive limit 0: Positive logic; 1: Negative logic; Reserved: Not in use yet.
bHdNLimit	BOOL	Hardware reverse limit (Read-only) 0: Positive logic; 1: Negative logic; Reserved: Not in use yet.
bEnProbe1	BOOL	Touch probe 1 enable Reserved
bEnProbe2	BOOL	Touch probe 2 enable Reserved
sProbe1	ARRAY[O..5] OF BYTE	Touch probe 1, X0 to X7.
sProbe2	ARRAY[O..5] OF BYTE	Touch probe 2, X0 to X7.
nOutputWay	DWORD	Output mode 0: Pulse+Direction; 1: CW/CCW.
nCounterMode	DWORD	Counting mode 0: A/B phase 1 times frequency;

Name	Data type	Function
		1: A/B phase 2 times frequency; 2: A/B phase 4 times frequency; 3: CW/CCW; 4: Pulse+Direction; 5: Single phase count.
nSignalSource	DWORD	Signal source 0: X0-Phase A; 1: X1-Phase B; 2: X2-Phase A; 3: X3-Phase B.
bEnPreSet	BOOL	Preset enable
sInputTermial	ARRAY[O..5] OF BYTE	Input terminal
bEnCmpOutput	BOOL	Compare output enable
dPulseWidth	LREAL	Pulse width
sOutputTermial	ARRAY[O..5] OF BYTE	Output terminal
sCmpOutputUnit	ARRAY[O..4] OF BYTE	Compare output units ms/Unit
nFiltTime10ns	DINT	Filtering time design 10us unit
nFreqFilterTime	DINT	Velocity filtering time constant
pOrigin	AXIS_ORIGINRET_INFO_T	Homing information
nOriginSignal	BYTE	Homing signal 0: Not assigned; 1: Not used; 2: In use.
nZSingal	BYTE	Z signal. 0: Not assigned; 1: Not used; 2: In use.
nPLimit	BYTE	Positive limit 0: Not assigned; 1: Not used; 2: In use.
nNLimit	BYTE	Negative limit 0: Not assigned; 1: Not used; 2: In use.
nDirection	BYTE	Homing direction: 0: Not assigned; 1: Forward; 2: Reverse
nInputCheckDirection	BYTE	Enter the detection direction. 0: Not assigned;

Name	Data type	Function
		0: Positive 2: Reverse
nReturnList	BYTE	Homing list Homing mode 1 to 35
nReturnZero	BYTE	Homing mode 0: Absolute homing 1: Relative homing.
dReturnSpeed	LREAL	Homing speed Unit/s
dReturnAccelerate	LREAL	Homing acceleration Uint/s^2
dReturnNearSpeed	LREAL	Homing approach velocity Unit/s
nReturnTimeOut	DINT	Homing overtime time ms
bEnPLimit	BOOL	Positive limit enables
bEnNLimit	BOOL	Negative limit enable
bEnSignalLimit	BOOL	Homing signal enable
sPLimitAddr	ARRAY[O..5] OF BYTE	Positive limit address X0~X1023. (The local pulse axis currently only supports hardware limit X0-X7)
sNLimitAddr	ARRAY[O..5] OF BYTE	Reverse limit address X0~X1023. (The local pulse axis currently only supports hardware limit X0-X7)
sSignalLimitAddr	ARRAY[O..5] OF BYTE	Homing signal address X0 to X1023 (The local pulse axis currently only supports hardware limit X0-X7)
nPLimitLogic	BOOL	Forward limit logic 0: Forward logic; 1: Reverse logic.
nNLimitLogic	BOOL	Negative limit logic. 0: Positive logic; 1: Negative logic.
nSignalLogic	BOOL	Homing signal logic 0: Positive logic; 1: Negative logic.
pUnit	AXIS_UNITCONV_INFO_T	Unit information
bReverse	BOOL	Reverse or not
bEnGearBox	BOOL	Enable gearbox
nRotatePulseNum	DINT	The number of pulses for one revolution of the motor/encoder
dRotateMoveAmount1	LREAL	Movement amount 1 in one rotation
dRotateMoveAmount2	LREAL	Movement amount 2 in one rotation
nGearRatioM	INT	Gear ratio molecule
nGearRatioD	INT	Gear ratio denominator

Others

Single axis motion control status diagram

Axis group motion control status diagram

Arc mode description

Mode	Border (CircMode=0)	Circle center (Circmode=1)	Diameter (CircMode=2)
Features	The arc path consists of the starting point, auxiliary points, and ending point.	The arc path consists of the starting point, the center point, and theending point.	The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle. The direction of the vector determines the direction of CW and CCW circles. The vector length is the radius of the arc.
Description
Auxpoint	Arc path point	Center point of arc	Normal vector of the plane where the space arc lies
Path choice	Invalid	CW and CCW circles CCW mode CW mode	Major and minor arcs 1: Minor arc 0: Major arc
Characteristics	Restriction of angle less than 2π for single instruction	Restriction of angle less than 2π and nor equal to π for single instruction	Restriction of angle less than 2π for single instruction The vector perpendicular to the circular plane must be calculated.

Transition mode description

Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.

TransitionMode	0 (No buffer mode)	1 (Largest velocity to buffer)	2 (Specified velocity buffer)
TransitionParameter	Invalid	Invalid	Specified velocity

Mode selection instructions

Caution

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;

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.

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!

(1) mcAborting

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.

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.

The following figure illustrates the function connection of the front and back function block instances in mcAborting.

Figure8-1

As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.

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.

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.

Then the output Done 1 is set, and Busy 1 and Active 1 are reset.

Axis position is 1000u.

Figure8-2 The sequence diagram of normal working condition and mcAborting

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.

Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.

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.

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.

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.

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.

This buffer mode is called mcAborting.

(2) mcBuffered

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.

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.

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.

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.

Figure8-3 Connections in mcBuffered

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.

and Done_1 is set, the work of the next function block will start immediately.

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.

Figure 8-4

mcBlending

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.

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.

Therefore, the mcBlending is divided into four types.

(1) mcBlendingLow.

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.

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.

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.

Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.

Figure 8-5 The connection of mcBlendingLow

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.

Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.

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.

FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.

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.

Figure 8-6 The sequence diagram of mcBlendingLow

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.

The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).

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.

mcBlendingPrevious

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.

Figure 8-7 shows the timing diagram of the mcBlendingPrevious.

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.

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.

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.

Figure 8-7 Sequence diagram of mcBlendingPrevious

mcBlendingNext

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.

Figure 8-8 shows the timing diagram of the mcBlendingNext.

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,

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.

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.

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.

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.

Error Code Cross-reference Table

Error Code	Error Definition	Interpretation
Normal
0x00	MC_ERROR_ID_SUCCESS	No error
Run-time error
0x00200000	MC_ERROR_ID_SCURVE_NOTFEASIBLE	Not feasible to compute S-curve
0x00200001	MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED	Not reach maximum velocity
0x00200002	MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED	Not reach maximum acceleration
0x00200003	MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED	Fail to find maximum velocity
0x00200004	MC_ERROR_ID_SCURVE_INVALIDINPUT	Invalid constraint for S-curve planning
PLCOpen State-machine error
0x00300000	MC_ERROR_ID_AXIS_STATE_VIOLATION	Invalid axis state violation
0x00300001	MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP	Try to power on the servo at ErrorStop
0x00300002	MC_ERROR_ID_INVALID_STATE_FROM_STOPPING	Invalid state transition at Stopping
0x00300003	MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP	Invalid state transition at ErrorStop
0x00300004	MC_ERROR_ID_INVALID_STATE_FROM_DISABLED	Invalid state transition at Disabled
0x00300005	MC_ERROR_ID_INVALID_STATE_FROM_POWERED	Invalid state transition at Powered
0x00300006	MC_ERROR_ID_INVALID_STATE_FROM_SYNC	Invalid state transition at Sync
0x00300007	MC_ERROR_ID_INVALID_STATE_NOT_HOME	Invalid state transition when not home
0x00300008	MC_ERROR_ID_INVALID_STATE_TO_DISABLED	Invalid state transition to Disabled
0x00300009	MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP	Invalid state transition to ErrorStop
0x0030000A	MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL	Invalid state transition to StandStill
0x0030000B	MC_ERROR_ID_INVALID_STATE_TO_HOMING	Invalid state transition to Homing
0x0030000C	MC_ERROR_ID_INVALID_STATE_TO_STOPPING	Invalid state transition to Stoppping
0x0030000D	MC_ERROR_ID_INVALID_STATE_TO_DISCRETE	Invalid state transition to DiscreteMotion
0x0030000E	MC_ERROR_ID_INVALID_STATE_TO_SYNC	Invalid state transition to SynchronizedMotion
0x0030000F	MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS	Invalid state transition to ContinuousMotion
Error due to user/system limitations
0x00400000	MC_ERROR_ID_MOTION_LIMIT_ERROR	Velocity, acceleration or position over limit
0x00400001	MC_ERROR_ID_INVALID_DIRECTION_POSITIVE	No positive direction motion allowed
0x00400002	MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE	No negative direction motion allowed
0x00400003	MC_ERROR_ID_VELOCITY_OVER_LIMIT	Velocity over limit
0x00400004	MC_ERROR_ID_ACCELERATION_OVER_LIMIT	Acceleration over limit
0x00400005	MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT	Position over positive limit
0x00400006	MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT	Position over negative limit
0x00400007	MC_ERROR_ID_POSITION_LAG_OVERLIMIT	Position lag over limit
0x00400008	MC_ERROR_ID_TORQUE_OVER_LIMIT	Torque over limit
Error Stop
0x00500000	MC_ERROR_ID_AXIS_ERROR_STOP	Axis error stopped
Error from servo
0x00600000	MC_ERROR_ID_AXIS_ERROR_STOP	Servo has no error
0x00600001	MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR	Servo fieldbus initialize error
0x00600002	MC_ERROR_ID_SERVO_POWER_ERROR	Servo power error
0x00600003	MC_ERROR_ID_SERVO_POWERING_ON_ERROR	Servo has error during powering on
0x00600004	MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON	Servo has error after powered on
0x00600005	MC_ERROR_ID_SERVO_POWERING_OFF_ERROR	Servo has error during powering off
0x00600006	MC_ERROR_ID_SERVO_PDO_NOT_MAP	Servo PDO not map
0x00600007	MC_ERROR_ID_SERVO_PDO_READ_ERROR	Servo PDO read error
0x00600008	MC_ERROR_ID_SERVO_PDO_WRITE_ERROR	Servo PDO write error
0x00600009	MC_ERROR_ID_SERVO_POWER_OFF	Servo can’t run in power off
0x0060000A	MC_ERROR_ID_SERVO_ERROR_HOME_STATE	Servo has error when homing state
0x0060000B	MC_ERROR_ID_SERVO_HOME_MODE_SWITCH	Servo mode switch error
0x0060000C	MC_ERROR_ID_SERVO_HOME_CTRLWORD	Servo set homing mode error
0x0060000D	MC_ERROR_ID_SERVO_HOME	Servo homing error
0x0060000E	MC_ERROR_ID_SERVO_PDO_READ_BUSY	Servo PDO read busy
0x0060000F	MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND	Fail to find Servo TouchProbe
0x00600010	MC_ERROR_ID_SERVO_PARAREAD	Read Servo parameter error
0x00600011	MC_ERROR_ID_SERVO_PARAWRITE	Write Servo parameter error
0x00600012	MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT	Time out when origin regression
0x00600013	MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI	The execution has not encountered the limit
0x00600014	MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_ OVER_LIMIT	Pulse shaft HOME Velocity over limit
0x00600015	MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_ OVER_LIMIT	Pulse shaft HOME Acceleration over limit
0x00600020	MC_ERROR_ID_MODE_SWITCH_NEEDPDO_ NOTMAP	There is no required PDO for the mode corresponding to mode switching.
0x006000FF	MC_ERROR_ID_SERVO_LOST	Servo lost
Axis’s error
0x00700000	MC_ERROR_ID_AXIS_GENERAL_ERROR	Axis's general error
0x00700001	MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR	Axis’ add error
0x00700002	MC_ERROR_ID_AXIS_IS_UNHEALTHY	Axis is unhealthy
0x00700003	MC_ERROR_ID_AXIS_IS_OVER_LIMIT	Axis's motion instruction is over limit
0x00700004	MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR	Axis error when on the falling edge
0x00700005	MC_ERROR_ID_AXIS_NOTFIND	Not find the axis
0x00700006	MC_ERROR_ID_AXIS_IS_INGROUP	Axis is in Group
0x00700007	MC_ERROR_ID_AXIS_CAN_NOT_SETPOS	Axis cannot be set position in current state
0x00700008	MC_ERROR_ID_AXIS_NOT_POWER	Axis does not power on yet
0x00700009	MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH	Not support the bound touch probe number
0x0070000A	MC_ERROR_ID_AXIS_IS_COMBINED	Axis is combined
0x0070000B	MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU N	Axis can't combine while running
0x0070000C	MC_ERROR_ID_AXIS_GROUP_NOTFIND	Not find axis group number
General FB error
0x00800000	MC_ERROR_ID_FB_GENERAL_ERROR	User's FB run error
0x00800001	MC_ERROR_ID_FB_READ_PARAM_ERROR	User's FB read error
0x00800002	MC_ERROR_ID_FB_STOP_ERROR	User's FB stop error
0x00800003	MC_ERROR_ID_FB_NOT_BIND_AXIS	User's FB does not bind the logic axis
0x00800004	MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID	User's FB dose not set the read parameter
0x00800005	MC_ERROR_ID_FB_NOT_IN_QUEUE	User's FB has already done and can't update
0x00800006	MC_ERROR_ID_FB_PARAMETER_ERROR	User's FB parameter error
0x00800007	MC_ERROR_ID_FB_PLAN_FAILED	User's FB error due to parameter when executing planning
0x00800008	MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN	User's FB replace axis in running
0x00800009	MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR	Stop virtual superimposed error
0x0080000A	MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP	User's FB isn't binding axis in axis group
0x0080000B	MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR	The bound axis has error
0x0080000C	MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR	Fb’s planning axis has error
0x0080000D	MC_ERROR_ID_FB_NOT_BIND_MASTER	FB does not bind master axis
0x0080000E	MC_ERROR_ID_FB_NOT_BIND_SLAVE	FB does not bind slave axis
0x0080000F	MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS	FB can't bind encoder axis
0x00800010	MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO	FB does not bind trigger information
0x00800011	MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM	Bound trigger number is not supported
0x00800012	MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN	FB’ bound parameter cannot change at running
0x00800013	MC_ERROR_ID_FB_RANGE_SET_ERROR	FB parameter range has error. Maximum value may be less than minimum value.
0x00800014	MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME	FB master and slave axis are consistent
0x00800015	MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME	FB master and auxiliary axis are consistent
0x00800016	MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME	FB auxiliary and slave axis are consistent
0x00800017	MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING	FB master and slave id are not in ascending order
General axis group error
0x00900000	MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR	Group general error
0x00900001	MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR	Group fb add error
0x00900002	MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR	Group remove logic axis error
0x00900003	MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR	Group enable error
0x00900004	MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR	Group disable error
0x00900005	MC_ERROR_ID_AXIS_GROUP_STOP_ERROR	Group stop error
0x00900006	MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE	Group is to run, but axis is in single axis controlled
0x00900007	MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE	Axis is bound in axis group
0x00900008	MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY	Group's any axis is error or any error in group
0x00900009	MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT	Group can't set position
0x0090000A	MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS	Group is to switch to the unallowed state
0x0090000B	MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS	Group does not bind axis
0x0090000C	MC_ERROR_ID_AXIS_GROUP_IS_DISABLED	Group is disabled
Single axis planner error
0x00A00000	MC_ERROR_ID_PLANNER_DIST_IS_ZERO	Planner position is 0
0x00A00001	MC_ERROR_ID_PLANNER_SPPED_IS_ZERO	Planner velocity is 0
0x00A00002	MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO	Planner acceleration is 0
0x00A00003	MC_ERROR_ID_PLANNER_JERK_IS_ZERO	Group general error
0x00A00004	MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST	Planner synchronization error, current position is inconsistent with the last position
0x00A00005	MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT	Planner input velocity is over limit
0x00A00006	MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT	Planner input acceleration and deceleration is over limit
0x00A00007	MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT	Planner input Jerk is over limit
0x00AFFFFF	MC_ERROR_ID_PLANNER_SG_CULCULATE	Planner single axis calculate error
Axis group planner error
0x00B00000	MC_ERROR_ID_PLANNER_SP_SAME_START_END	Planner space curve’ start and end are the same
0x00B00000	MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE	Planner space curve is not in the same plane
0x00BFFFFF	MC_ERROR_ID_PLANNER_SP_CULCULATE	Planner space curve calculate error
ECAM or EGEAR error
0x00C00000	MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME	Planner master and slave is the same
0x00C00001	MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO	Planner axis's max acc/dec/vel is zero
0x00C00002	MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE	Planner the camtable is inexistence
0x00C00003	MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE	Planner the cam node num is over actual cam node size
0x00C00004	MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR	Planner the cam node num or cam node size is error
0x00C00005	MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO	Planner the cam first node's master position or slave position non-zero
0x00C00006	MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR	Planner the cam node parameter is error
0x00C00007	MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR	Planner the update cam table is error
0x00C00008	MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR	Planner the save cam table is error
0x00C00009	MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR	Planner get master and slave vel/pos is error
0x00C0000A	MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING	Planner the buffer mode is not aborting
0x00C0000B	MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO	Planner the cam master scaling or slave scaling is zero
0x00C0000C	MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND	Planner the cam table is not bind
0x00C0000D	MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE	Planner the axis is not in the cam state
0x00C0000E	MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE	Planner the axis is not in the gear state
0x00C0000F	MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR	Planner the camin parameter is error
0x00C00010	MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR	Planner the gearin parameter is error
0x00C00011	MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR	Planner the gearinpos parameter is error
0x00C00012	MC_ERROR_ID_CAM_TABLE_IS_UPDATE	Planner the cam table is updating
0x00C00013	MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR	Planner the get cam table position is error
0x00C00014	MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE	Planner the get cam table position is error
0x00C00015	MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN	Planner the cam table node is not adjoin

08 Motion Control

Management Function Blocks for Single-axis Motion Control

MC_POWER

MC_READSTATUS

MC_READMOTIONSTATE

MC_READAXISERROR

MC_READAXISINFO

MC_READPARAMETER

MC_READBOOLPARAMETER

MC_READACTUALVELOCITY

MC_READACTUALPOSITION

MC_RESET

MC_SETPOSITION

Motion Function Blocks for Single-axis Motion Control

MC_STOP

MC_HOME

MC_HALT

MC_MOVEABSOLUTE

MC_MOVERELATIVE

MC_MOVEADDITIVE

MC_MOVESUPERIMPOSED

Management Function Blocks for Multi-axis Motion Control

MC_CAMTABLESELECT

MC_GENERATECAMTABLE

MC_SAVECAMTABLE

Motion Function Block for Multi-axis Motion Control

MC_CAMIN

MC_CAMOUT

MC_GEARIN

MC_GEAROUT

MC_GEARINPOS

Management functions of axis group motion control

MC_ADDAXISTOGROUP

MC_REMOVEAXISFROMGROUP

MC_UNGROUPALLAXES

MC_GROUPENABLE

MC_GROUPDISABLE

MC_GROUPREDACTUALPOSITION

MC_GROUPREADACTUALVELOCITY

MC_GROUPREADERROR

MC_GROUPREADSTATUS

MC_GROUPRESET

MC_GROUPREADACTUALACCELERATION

Axis group motion Function Blocks

MC_GROUPSTOP

MC_GROUPHALT

MC_MOVELINEARABSOLUTE

MC_MOVELINEARRELATIVE

MC_MOVECIRCULARABSOLUTE

MC_MOVECIRCULARRELATIVE

MC_MOVEDIRECTABSOLUTE

MC_MOVEDIRECTRELATIVE

Other special FB

MC_MOVEJOG

MC_COMBINEAXES

MC_MOVEVELOCITY

MC _ MOVEVELOCITY _ CSV

MC _ SYNCMOVEVELOCITY

MC _ SETTORQUE

MC _ TORQUECONTROL

MC _ MOVEABSRELPP

MC _ MOVEVELOCITYPV

MC _ TORQUECONTROLPT

SDO instruction

MC_READSDO reads SDO data

MC_WRITESD0 writes SDO data

Built-in variables of pulse axis system

Others

Single axis motion control status diagram

Axis group motion control status diagram

Arc mode description

Transition mode description

Mode selection instructions

Error Code Cross-reference Table

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