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Wiki source code of 08 Motion Control

Version 7.1 by Jiahao Lai on 2025/11/05 13:54
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1 == **Management Function Blocks for Single-axis Motion Control** ==
2
3 ----
4
5 === **MC_POWER** ===
6
7 ----
8
9 MC_POWER
10
11 (% style="text-align:center" %)
12 [[image:1708929927472-144.png||_mstalt="296517"]]
13
14 This function block is a power-on software switch for the motion control system.
15
16 Device used (only a single device can be used, and device splicing and offset are not supported)
17
18
19
20 |=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
21 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
22 |(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
23 |EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
24 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
25 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
26 |Status| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
27 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
28 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
29 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
30
31 Precautions for use of devices
32
33
34 * LC and HSC are signed 32-bit data types;
35 * T, C, D, R, SD are signed 16-bit data types.
36
37 Variable Type Used
38
39
40 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
41 |(% colspan="1" rowspan="8" %)MC_POWER|Enable|BOOL|No|TRUE/FALSE|Enable
42 |EnablePositive|BOOL|No|TRUE/FALSE|Allow motion in the positive direction
43 |EnableNegative|BOOL|No|TRUE/FALSE|Allow motion in negative direction
44 |Axis|WORD|No|0 to 65535|Axis number
45 |Status|BOOL|No|TRUE/FALSE|Enable status
46 |Valid|BOOL|No|TRUE/FALSE|Data valid or not
47 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
48 |ErrorID|DWORD|No|-|[Error code]
49
50 Function
51
52 * This function block must be enabled if an axis is to participate in motion.
53 * The function is as follows:
54
55 1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
56 1. When the Enable input is TRUE, this function block is called. If the state of the axis is in the Disable state, then the state of the axis is switched to the state of StandStill, waiting for the motion control of the axis;
57 1. If a fault occurs when the Enable input is TRUE, a timer function block and an AND logic function can make the state of its axis remain at FAlSE. It indicates that there is a fault at the hardware level;
58 1. If the PLC power supply fails during the motion, the state of the axis will switch to the ErrorStop state;
59 1. The input signals EnablePositive and EnableNegative are level controlled. When they are TRUE, axis motion in the positive and negative directions are allowed. Two input signals can be set at the same time, indicating that the allowed motion direction can be either positive or negative;
60 1. Each axis can only have one MC_POWER function block for powering up the axis. If multiple MC_POWER control the same axis, the last function block is valid;
61 1. The Status output signal indicates the status of the driver power supply, and 1 means power on; 0 means not power on. It is also not a simulated value if the axis drive is a simulated axis. Busy is the operating status of the function block, 1 means busy; 0 means idle. 0 means uncontrolled. Valid indicates whether the output signal of the function block is valid, and 1 means the output signal is valid; 0 means the output signal is invalid. Error indicates whether the function block is faulty, and 1 means faulty; 0 means no fault. ErrorID is the error code, and when a function block fault occurs, there are 16 digits indicating the fault information.
62
63 Precautions
64
65 * When any error occurs when the axis is enabled, it will be fed back through Error and ErrorID;
66 * The PDO parameters of servo axis bound to the axis must have control word, status word, target position and current position.
67
68 Sequence diagram
69
70 * When using a MC_POWER instruction and axis enables normally, sequence diagram is as follows:(((
71 (% style="text-align:center" %)
72 [[image:1708930747762-294.png||_mstalt="297310"]]
73 )))
74
75 * When axis uses two MC_POWER instructions and axis enables normally, sequence diagram is as follows:
76
77 (% style="text-align:center" %)
78 [[image:1708930776082-904.png||_mstalt="295945"]]
79
80 === **MC_READSTATUS** ===
81
82 ----
83
84 MC_READSTATUS
85
86 (% style="text-align:center" %)
87 [[image:1708930816987-979.png||_mstalt="301678"]]
88
89 This function block is used to read the status of the controlled axis.
90
91 Device used (only a single device can be used, and device splicing and offset are not supported)
92
93 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
94 **Index**
95
96 **modification**
97 )))|=**Pulse expansion**
98 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
99 |(% colspan="1" rowspan="14" %)MC_READSTATUS|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
100 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
101 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
102 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
103 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
104 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
105 |Errorstop| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
106 |Disabled| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
107 |Stopping| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
108 |Homing| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
109 |Standstill| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
110 |DiscreteMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
111 |ContinuousMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
112 |SynchronizedMotion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
113
114 Precautions for use of devices
115
116 * LC and HSC are signed 32-bit data types;
117 * T, C, D, R and SD are signed 16-bit data types;
118
119 Variable Type Used
120
121 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
122 |(% colspan="1" rowspan="14" %)MC_READSTATUS|Enable|BOOL|No|TRUE/FALSE|Enable
123 |Axis|WORD|No|0 to 65535|Axis number
124 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
125 |Busy|BOOL|No|TRUE/FALSE|Busy sign
126 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
127 |ErrorID|DWORD|No|-|Error code
128 |Errorstop|BOOL|No|TRUE/FALSE|Error stop sign
129 |Disabled|BOOL|No|TRUE/FALSE|Inactive sign
130 |Stopping|BOOL|No|TRUE/FALSE|Stopping sign
131 |Homing|BOOL|No|TRUE/FALSE|Homing sign
132 |Standstill|BOOL|No|TRUE/FALSE|Static sign
133 |DiscreteMotion|BOOL|No|TRUE/FALSE|Discontinuous motion sign
134 |ContinuousMotion|BOOL|No|TRUE/FALSE|Continuous motion sign
135 |SynchronizedMotion|BOOL|No|TRUE/FALSE|Synchronized motion sign
136
137 Function
138
139 * It is used to read the status of the controlled axis, corresponding to the single-axis SynchronizedMotion, ContinuousMotion, DiscreteMotion, Stopping, Errorstop, Homing, Standstill and Disabled;
140 * When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.
141
142 Precautions
143
144 * This function block is not available when the axis does not exist.
145
146 Sequence diagram
147
148 When using MC_READSTATUS with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:
149
150 (% style="text-align:center" %)
151 [[image:1708931189048-874.png||_mstalt="298116"]]
152
153
154 === **MC_READMOTIONSTATE** ===
155
156 ----
157
158 MC_READMOTIONSTATE
159
160 (% style="text-align:center" %)
161 [[image:1708931307231-255.png||_mstalt="293072"]]
162
163 This function block is used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction.
164
165 Device used (only a single device can be used, and device splicing and offset are not supported)
166
167 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
168 **Index**
169
170 **modification**
171 )))|=**Pulse expansion**
172 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
173 |(% colspan="1" rowspan="11" %)MC_READMOTIONSTATE|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
174 |Axis| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
175 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
176 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
177 |Error| | | | | | | | | | | | | | | | | | | | | | | | | |
178 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
179 |ConstantVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
180 |Accelerating| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
181 |Decelerating| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
182 |DirectionPositive| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
183 |DirectionNegative| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
184
185 Precautions for use of devices
186
187 * LC and HSC are signed 32-bit data types;
188 * T, C, D, R and SD are signed 16-bit data types;
189
190 Variable Type Used
191
192 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
193 |(% colspan="1" rowspan="11" %)MC_READMOTIONSTATE|Enable|BOOL|No|TRUE/FALSE|Enable
194 |Axis|WORD|No|0 to 65535|Axis number
195 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
196 |Busy|BOOL|No|TRUE/FALSE|Busy sign
197 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
198 |ErrorID|DWORD|No|-|Error code
199 |ConstantVelocity|BOOL|No|TRUE/FALSE|Constant velocity
200 |Accelerating|BOOL|No|TRUE/FALSE|Accelerating
201 |Decelerating|BOOL|No|TRUE/FALSE|Decelerating
202 |DirectionPositive|BOOL|No|TRUE/FALSE|Positive direction
203 |DirectionNegative|BOOL|No|TRUE/FALSE|Negative direction
204
205 Function
206
207 * Used to read the motion status of the controlled axis, including constant speed, acceleration, deceleration, positive direction and negative direction;
208 * When the MC_ReadStatus function block input Enable is TRUE, the status of the axis is periodically updated.
209
210 Precautions
211
212 * This function block is not available when the axis does not exist.
213
214 Error code
215
216 |=**Error code**|=**Content**
217 |4084H|Data beyond the specifiable range was entered.
218
219 Sequence diagram
220
221 * When using MC_READMOTIONSTATE with MC_MOVERELATIVE instruction together and axis enables normally, sequence diagram is as follows:
222
223 (% style="text-align:center" %)
224 [[image:1708931510215-517.png||_mstalt="292968"]]
225
226
227 === **MC_READAXISERROR** ===
228
229 ----
230
231 MC_READAXISERROR
232
233 (% style="text-align:center" %)
234 [[image:1708931587533-769.png||_mstalt="299000"]]
235
236 The function block provides fault information about the axis.
237
238 Device used (only a single device can be used, and device splicing and offset are not supported)
239
240 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
241 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
242 |(% colspan="1" rowspan="7" %)MC_READAXISERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
243 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
244 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
245 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
246 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
247 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
248 |AxisErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
249
250 Precautions for use of devices
251
252 * LC and HSC are signed 32-bit data types;
253 * T, C, D, R and SD are signed 16-bit data types;
254
255 Variable Type Used
256
257 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
258 |(% rowspan="7" %)MC_READAXISERROR|Enable|BOOL|No|TRUE/FALSE|Enable
259 |Axis|WORD|No|0 to 65535|Axis number
260 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
261 |Busy|BOOL|No|TRUE/FALSE|Busy sign
262 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
263 |ErrorID|DWORD|No|-|Error code
264 |AxisErrorID|DWORD|No|-|Axis error code
265
266 Function
267
268 * The function block provides fault information for the axis. Typically, you can connect the axis status ErrorStop output of the MC_READSTATUS function block to the Enable input end of MC_READAXISERROR, so that the fault code of the axis can be obtained from AxisErrorID. You can also get the fault code from ErrorID.
269
270 Precautions
271
272 * This function block is not available when the axis does not exist.
273
274 Sequence diagram
275
276 * When using MC_READAXISINFO with MC_POWER and MC_MOVERELATIVE instructions together and axis enables normally, in which MC_POWER→EnablePosition is FALSE and MC_POWER→EnableNegative is TRUE, sequence diagram is as follows:
277
278 (% style="text-align:center" %)
279 [[image:1708931733986-184.png||_mstalt="297791"]]
280
281
282 === **MC_READAXISINFO** ===
283
284 ----
285
286 MC_READAXISINFO
287
288 (% style="text-align:center" %)
289 [[image:1708931778931-994.png||_mstalt="299676"]]
290
291 The function block is used to provide information about the axis.
292
293 Device used (only a single device can be used, and device splicing and offset are not supported)
294
295 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|**Index modification**|**Pulse expansion**
296 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
297 |(% rowspan="13" %)MC_READAXISINFO|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
298 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
299 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
301 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
302 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
303 |HomeAbsSwitch| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
304 |LimitSwitchPos| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
305 |LimitSwitchNeg| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
306 |ReadyForPowerOn| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
307 |powerOn| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
308 |IsHomed| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
309 |AxisWarning| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
310
311 **Precautions for use of devices**
312
313 * LC and HSC are signed 32-bit data types;
314 * T, C, D, R and SD are signed 16-bit data types.
315
316 **Variable Type Used**
317
318 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
319 |(% rowspan="13" %)MC_READAXISINFO|Enable|BOOL|No|TRUE/FALSE|Enable
320 |Axis|WORD|No|0 to 65535|Axis number
321 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
322 |Busy|BOOL|No|TRUE/FALSE|Busy sign
323 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
324 |ErrorID|DWORD|No|-|Error code
325 |HomeAbsSwitch|BOOL|No|TRUE/FALSE|Homing absolute position switch
326 |LimitSwitchPos|BOOl|No|TRUE/FALSE|Positive limit switch
327 |LimitSwitchNeg|BOOl|No|TRUE/FALSE|Negative limit switch
328 |ReadyForPowerOn|BOOl|No|TRUE/FALSE|Ready to enable
329 |powerOn|BOOl|No|TRUE/FALSE|Enable
330 |IsHomed|BOOl|No|TRUE/FALSE|Homing successful
331 |AxisWarning|BOOl|No|TRUE/FALSE|Axis warning
332
333 Function
334
335 * It is used to provide information about the axis, including the information about the absolute position switch back to the origin, the status information of the positive and negative limit switches, the power-on switch of the function block, and whether the axis has warnings. Generally, the output PowerOn of the MC_READAXISINFO function block can be used as the execution input of the motion control function block. For example, if the Enable of the power-on switch MC_POWER is shared with the MC_MOVEABSOLUTE function block, because the MC_MOVEABSOLUTE function block is edge triggered, and the execution of the MC_POWER function block takes a certain time, only when PowerOn is set can the actual output of MC_POWER be deemed to be powered-on so that the output PowerOn of MC_READAXISINFO is often connected to the Execute end of MC_MOVEABSOLUTE function block to ensure the edge trigger of MC_MOVEABSOLUTE function block. The Enable of the MC_READAXISINFO function block can share an input signal with the MC_POWER function block.
336
337 Precautions
338
339 * This function block is not available when the axis does not exist.
340
341 Sequence diagram
342
343 * When using MC_READAXISINFO with MC_POWER instruction together and axis enables normally, sequence diagram is as follows:
344
345 (% style="text-align:center" %)
346 [[image:1708931872321-895.png||_mstalt="297076"]]
347
348 === **MC_READPARAMETER** ===
349
350 ----
351
352 MC_READPARAMETER
353
354 (% style="text-align:center" %)
355 [[image:1708931933784-427.png||_mstalt="297219"]]
356
357 This function block is used to read axis parameters.
358
359 Device used (only a single device can be used, and device splicing and offset are not supported)
360
361 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
362 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
363 |(% colspan="1" rowspan="8" %)MC_READPARAMETER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
364 |ParameterNumber| | | | | | | | | | | | | | |●|●|●|●|●| | | | | | |
365 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
366 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
367 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
368 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
369 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
370 |Value| | | | | | | | | | | | | | | | | | | | | | | | | |
371
372 Precautions for use of devices
373
374 * LC and HSC are signed 32-bit data types;
375 * T, C, D, R and SD are signed 16-bit data types.
376
377 Variable Type Used
378
379 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
380 |(% rowspan="8" %)MC_READPARAMETER|Enable|BOOL|No|TRUE/FALSE|Enable
381 |ParameterNumber|INT|No|1 to 17|Parameter number
382 |Axis|WORD|No|0 to 65535|Axis number
383 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
384 |Busy|BOOL|No|TRUE/FALSE|Busy sign
385 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
386 |ErrorID|DWORD|No|-|Error code
387 |Value|LREAL|No|-|Axis parameter value
388
389 Function
390
391
392 * Used to read axis parameters, as shown in following table.
393
394 |=**Parameter number PN**|=**Parameter name**|=**Data type**|=**B/E**|=**R/W**|=**Notes**
395 |1|InstructionedPosition|REAL|B|R|Instruction position
396 |2|SWLimitPos|REAL|E|R/W|Position of positive software limit switch
397 |3|SWLimitNeg|REAL|E|R/W|Positive of negative software limit switch
398 |4|EnableLimitPos|BOOL|E|R/W|Enable positive software limit switch
399 |5|EnableLimitNeg|BOOL|E|R/W|Enable negative software limit switch
400 |6|EnablePosLagMonitoring|BOOL|E|R/W|Enable position lag monitoring
401 |7|MaxPositionLag|REAL|E|R/W|Maximum position lag
402 |8|MaxVelocitySystem|REAL|E|R|Maximum allowable axial velocity in motion system
403 |9|MaxVelocityAppl|REAL|B|R/W|Maximum allowable axial velocity in application
404 |10|ActualVelocity|REAL|B|R|Actual velocity
405 |11|InstructionedVelocity|REAL|B|R|Instructioned velocity
406 |12|MaxAccelerationSystem|REAL|E|R|Maximum allowable axial acceleration in motion system
407 |13|MaxAccelerationAppl|REAL|E|R/W|Maximum allowable axial acceleration in application
408 |14|MaxDecelerationSystem|REAL|E|R|Maximum allowable axial deceleration in motion system
409 |15|MaxDecelerationAppl|REAL|E|R/W|Maximum allowable axial deceleration in application
410 |16|MaxJerkSystem|REAL|E|R|Maximum allowable axial jerk in motion system
411 |17|MaxJerkAppl|REAL|E|R/W|Maximum allowable axial jerk in application system
412
413 Precautions
414
415 * This function block is not available when the axis does not exist.
416
417 Error code
418
419 |=**Error code**|=**Content**
420 |4084H|Data beyond the specifiable range was entered.
421
422 Sequence diagram
423
424 * When using MC_READPARAMETER with MC_MOVERELATIVE instruction together, in which ParameterNumber=1, and axis enables normally, sequence diagram is as follows:
425
426 (% style="text-align:center" %)
427 [[image:1708932250549-876.png||_mstalt="297960"]]
428
429 === **MC_READBOOLPARAMETER** ===
430
431 ----
432
433 MC_READBOOLPARAMETER
434
435 (% style="text-align:center" %)
436 [[image:1708932376799-782.png||_mstalt="300209"]]
437
438 This function block is used to read axis Boolean parameters.
439
440 Device used (only a single device can be used, and device splicing and offset are not supported)
441
442 |=(% style="width: 178px;" %)**Instruction**|=(% style="width: 167px;" %)**Parameter**|=(% colspan="24" %)**Devices**|=(((
443 **Index**
444
445 **modification**
446 )))|=**Pulse expansion**
447 |(% style="width:178px" %) |(% style="width:167px" %) |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
448 |(% colspan="1" rowspan="8" style="width:178px" %)MC_READBOOLPARAMETER|(% style="width:167px" %)Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
449 |(% style="width:167px" %)ParameterNumber| | | | | | | | | | | | | | |●|●|●|●|●| | | | | | |
450 |(% style="width:167px" %)Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
451 |(% style="width:167px" %)Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
452 |(% style="width:167px" %)Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
453 |(% style="width:167px" %)Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
454 |(% style="width:167px" %)ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
455 |(% style="width:167px" %)Value| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
456
457 Precautions for use of devices
458
459 * LC and HSC are signed 32-bit data types;
460 * T, C, D, R and SD are signed 16-bit data types;
461
462 Variable Type Used
463
464 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
465 |(% colspan="1" rowspan="8" %)MC_READBOOLPARAMETER|Enable|BOOL|No|TRUE/FALSE|Enable
466 |ParameterNumber|INT|No|1 to 17|Parameter number
467 |Axis|WORD|No|0 to 65535|Axis number
468 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
469 |Busy|BOOL|No|TRUE/FALSE|Busy sign
470 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
471 |ErrorID|DWORD|No|-|Error code
472 |Value|BOOL|No|TRUE/FALSE|Axis parameter
473
474 Function
475
476 * Used to read axis Boolean parameters, as shown in following table.
477
478 |=**Parameter number PN**|=**Parameter name**|=**Data type**|=**B/E**|=**R/W**|=**Notes**
479 |1|InstructionedPosition|REAL|B|R|Instruction position
480 |2|SWLimitPos|REAL|E|R/W|Position of positive software limit switch
481 |3|SWLimitNeg|REAL|E|R/W|Positive of negative software limit switch
482 |4|EnableLimitPos|BOOL|E|R/W|Enable positive software limit switch
483 |5|EnableLimitNeg|BOOL|E|R/W|Enable negative software limit switch
484 |6|EnablePosLagMonitoring|BOOL|E|R/W|Enable position lag monitoring
485 |7|MaxPositionLag|REAL|E|R/W|Maximum position lag
486 |8|MaxVelocitySystem|REAL|E|R|Maximum allowable axial velocity in motion system
487 |9|MaxVelocityAppl|REAL|B|R/W|Maximum allowable axial velocity in application
488 |10|ActualVelocity|REAL|B|R|Actual velocity
489 |11|InstructionedVelocity|REAL|B|R|Instructioned velocity
490 |12|MaxAccelerationSystem|REAL|E|R|Maximum allowable axial acceleration in motion system
491 |13|MaxAccelerationAppl|REAL|E|R/W|Maximum allowable axial acceleration in application
492 |14|MaxDecelerationSystem|REAL|E|R|Maximum allowable axial deceleration in motion system
493 |15|MaxDecelerationAppl|REAL|E|R/W|Maximum allowable axial deceleration in application
494 |16|MaxJerkSystem|REAL|E|R|Maximum allowable axial jerk in motion system
495 |17|MaxJerkAppl|REAL|E|R/W|Maximum allowable axial jerk in application system
496
497 Precautions
498
499 * This function block is not available when the axis does not exist.
500
501 Error code
502
503 |=**Error code**|=**Content**
504 |4084H|Data beyond the specifiable range was entered.
505
506 Sequence diagram
507
508 (% style="text-align:center" %)
509 [[image:1708932747981-310.png||_mstalt="295100"]]
510
511 === **MC_READACTUALVELOCITY** ===
512
513 ----
514
515 MC_READACTUALVELOCITY
516
517 (% style="text-align:center" %)
518 [[image:1708932854884-305.png||_mstalt="296582"]]
519
520 This function block is used to read the actual velocity of the controlled axis.
521
522 Device used (only a single device can be used, and device splicing and offset are not supported)
523
524
525 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
526 **Index**
527
528 **modification**
529 )))|=(((
530 **Pulse**
531
532 **expansion**
533 )))
534 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
535 |(% colspan="1" rowspan="7" %)MC_READACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
536 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
537 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
538 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
539 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
540 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
541 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
542
543 Precautions for use of devices
544
545 * LC and HSC are signed 32-bit data types;
546 * T, C, D, R and SD are signed 16-bit data types.
547
548 Variable Type Used
549
550 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
551 |(% colspan="1" rowspan="7" %)MC_READACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
552 |Axis|WORD|No|0 to 65535|Axis number
553 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
554 |Busy|BOOL|No|TRUE/FALSE|Busy sign
555 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
556 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
557 |Velocity|LREAL|No|-|Actual velocity
558
559 Function
560
561 * When the function block’s Enable is set, the MC_READACTUALVELOCITY output returns the actual velocity of the controlled single axis.
562
563 Precautions
564
565 * This function block is not available when the axis does not exist;
566 * When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.
567
568 Sequence diagram
569
570 (% style="text-align:center" %)
571 [[image:1708933063977-591.png||_mstalt="297934"]]
572
573 === **MC_READACTUALPOSITION** ===
574
575 ----
576
577 MC_READACTUALPOSITION
578
579 (% style="text-align:center" %)
580 [[image:1708933148797-641.png||_mstalt="297635"]]
581
582 This function block is used to read the actual absolute position of the axis.
583
584 Device used (only a single device can be used, and device splicing and offset are not supported)
585
586 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
587 **Index**
588
589 **modification**
590 )))|=(((
591 **Pulse**
592
593 **expansion**
594 )))
595 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
596 |(% colspan="1" rowspan="7" %)MC_READACTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
597 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
598 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
599 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
600 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
601 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
602 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
603
604 Precautions for use of devices
605
606 * LC and HSC are signed 32-bit data types;
607 * T, C, D, R and SD are signed 16-bit data types；
608
609 Variable Type Used
610
611 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
612 |(% rowspan="7" %)MC_READACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
613 |Axis|WORD|No|0 to 65535|Axis number
614 |Valid|BOOL|No|TRUE/FALSE|Output valid or not
615 |Busy|BOOL|No|TRUE/FALSE|Busy sign
616 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
617 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
618 |Position|LREAL|No|-|Actual absolute position
619
620 Function
621
622 * When the function block’s Enable is set, the MC_READACTUALPOSITION output returns the actual absolute position of the controlled single axis.
623
624 Precautions
625
626 * This function block is not available when the axis does not exist;
627 * 0x6064 should be configured in the bus axis, otherwise it is invalid;
628 * When the function block's Enable is reset, the output value loses its validity, and the Valid output is reset.
629
630 Sequence diagram
631
632 (% style="text-align:center" %)
633 [[image:1708933375433-378.png||_mstalt="297037"]]
634
635 === **MC_RESET** ===
636
637 ----
638
639 MC_RESET
640
641 (% style="text-align:center" %)
642 [[image:1708933464043-183.png||_mstalt="294411"]]
643
644 This function block is used for clearing the faults of the controlled axis.
645
646 Device used (only a single device can be used, and device splicing and offset are not supported)
647
648
649 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
650 **Index**
651
652 **modification**
653 )))|=(((
654 **Pulse**
655
656 **expansion**
657 )))
658 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
659 |(% colspan="1" rowspan="6" %)MC_RESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
660 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
661 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
662 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
663 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
664 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
665
666 Precautions for use of devices
667
668 * LC and HSC are signed 32-bit data types;
669 * T, C, D, R and SD are signed 16-bit data types;
670
671 Variable Type Used
672
673
674 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
675 |(% colspan="1" rowspan="6" %)MC_RESET|Execute|BOOL|No|TRUE/FALSE|Enable
676 |Axis|WORD|No|0 to 65535|Axis number
677 |Done|BOOL|No|TRUE/FALSE|Completion sign
678 |Busy|BOOL|No|TRUE/FALSE|Busy sign
679 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
680 |ErrorID|DWORD|No|-|Error code
681
682 Function
683
684 * When the Execute input signal rises, it is used to clear the fault of the controlled axis. These faults include axis faults and drive side faults. If the drive itself fails, the reset of the drive failure should be carried out first. These fault treatments do not cause the motion of the controlled axis.
685
686 Precautions
687
688 * This function block is not available when the axis does not exist.
689
690 Sequence diagram
691
692 * In the case of axis failure, call MC_RESET instruction and reset successfully, sequence diagram is as follows:
693
694 (% style="text-align:center" %)
695 [[image:1708933588765-628.png||_mstalt="299468"]]
696
697 * When driver cannot be reset, sequence diagram is as follows:
698
699 (% style="text-align:center" %)
700 [[image:1708933611426-302.png||_mstalt="292292"]]
701
702 === **MC_SETPOSITION** ===
703
704 ----
705
706 MC_SETPOSITION
707
708 (% style="text-align:center" %)
709 [[image:1708933664132-373.png||_mstalt="294775"]]
710
711 This function block is used to set the position (absolute position or relative position) of the controlled axis.
712
713 Device used (only a single device can be used, and device splicing and offset are not supported)
714
715
716 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
717 **Index**
718
719 **modification**
720 )))|=(((
721 **Pulse**
722
723 **expansion**
724 )))
725 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
726 |(% colspan="1" rowspan="9" %)MC_SETPOSITION|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
727 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
728 |Relative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
729 |Execution Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
730 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
731 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
732 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
733 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
734 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
735
736 Precautions for use of devices
737
738 * LC and HSC are signed 32-bit data types;
739 * T, C, D, R and SD are signed 16-bit data types;
740
741 Variable Type Used
742
743 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
744 |(% colspan="1" rowspan="9" %)MC_SETPOSITION|Execute|BOOL|No|TRUE/FALSE|Enable
745 |Position|LREAL|No|-9999999.00~~9999999.00|Position
746 |Relative|BOOL|No|TRUE/FALSE|Set relative position or absolute position
747 |Execution Mode|WORD|No|0 to 2|Operation mode
748 |Axis|WORD|No|0 to 65535|Axis number
749 |Done|BOOL|No|TRUE/FALSE|Completion sign
750 |Busy|BOOL|No|TRUE/FALSE|Busy sign
751 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
752 |ErrorID|DWORD|No|-|Error code
753
754 Function
755
756 * MC_SETPOSITION function block is used to set the position (absolute position or relative position) of the controlled axis. It controls the set position and the actual position of the axis by moving the coordinate system of the coordinate system, so that they have the same value without causing motion, and obtains the same tracking error by re-calibration. This function block can be used for examples in reference situations;
757 * At present, this command does not support triggering when the axis is in motion.
758
759 Precautions
760
761 * This function block is not available when the axis does not exist.
762
763 == **Motion Function Blocks for Single-axis Motion Control** ==
764
765 ----
766
767 === **MC_STOP** ===
768
769 ----
770
771 MC_STOP
772
773 (% style="text-align:center" %)
774 [[image:1708934009088-266.png||_mstalt="296491"]]
775
776 This function block is used to change the state of the controlled axis to the deceleration stopping state.
777
778 Device used (only a single device can be used, and device splicing and offset are not supported)
779
780 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
781 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
782 |(% colspan="1" rowspan="9" %)MC_STOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
783 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
784 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
785 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
786 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
787 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
788 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
789 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
790 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
791
792 Precautions for use of devices
793
794 * LC and HSC are signed 32-bit data types;
795 * T, C, D, R and SD are signed 16-bit data types.
796
797 Variable Type Used
798
799 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
800 |(% colspan="1" rowspan="9" %)MC_STOP|Execute|BOOL|No|TRUE/FALSE|Enable
801 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
802 |Jerk|LREAL|No|0 to 9999999.00|Jerk
803 |Axis|WORD|No|0 to 65535|Axis number
804 |Done|BOOL|No|TRUE/FALSE|Completion sign
805 |Busy|BOOL|No|TRUE/FALSE|Busy sign
806 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
807 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
808 |ErrorID|DWORD|No|-|Error code
809
810 Function
811
812 * This function block is used to change the state of the controlled axis to the deceleration stopping state. When the rising edge of the input Execute signal triggers the function block, the controlled axis decelerates with the output Decelerate value and the axis motion stops.
813
814 Precautions
815
816 * This function block is not available when the axis does not exist.
817
818 Error code
819
820 |=**Error code**|=**Content**
821 |4084H|Data beyond the specifiable range was entered.
822
823 Sequence diagram
824
825 * When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:
826
827 (% style="text-align:center" %)
828 [[image:1708934225357-168.png||_mstalt="296452"]]
829
830 * When driver fails during the instruction running, sequence diagram is as follows:
831
832 (% style="text-align:center" %)
833 [[image:1708934303224-405.png||_mstalt="292370"]]
834
835 === **MC_HOME** ===
836
837 ----
838
839 MC_HOME
840
841 (% style="text-align:center" %)
842 [[image:1708934397030-253.png||_mstalt="294047"]]
843
844 This function block is used to change the state of the controlled axis to the origin state.
845
846 Device used (only a single device can be used, and device splicing and offset are not supported)
847
848 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
849 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
850 |(% colspan="1" rowspan="10" %)MC_HMOE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
851 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
852 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
853 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
854 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
855 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
856 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
857 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
858 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
859 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
860
861 Precautions for use of devices
862
863 * LC and HSC are signed 32-bit data types;
864 * T, C, D, R and SD are signed 16-bit data types.
865
866 Variable Type Used
867
868 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
869 |(% colspan="1" rowspan="10" %)MC_HOME|Execute|BOOL|No|TRUE/FALSE|Enable
870 |Position|LREAL|No|0 to 9999999.00|Position
871 |BufferMode|WORD|No|0 to 5|Mode selection
872 |Axis|WORD|No|0 to 65535|Axis number
873 |Done|BOOL|No|TRUE/FALSE|Completion sign
874 |Busy|BOOL|No|TRUE/FALSE|Busy sign
875 |Active|BOOL|Yes|TRUE/FALSE|Valid flag bit
876 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
877 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
878 |ErrorID|DWORD|No|-|Error code
879
880 Function
881
882 * It is determined whether the controlled axis returns to its origin by detecting the relevant limit switch, absolute position origin switch or transmitted sequence pulse signal.
883
884 Precautions
885
886 * This function block is not available when the axis does not exist.
887
888 Error code
889
890 |=**Error code**|=**Content**
891 |4084H|Data beyond the specifiable range was entered.
892
893 Sequence diagram
894
895 Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:
896
897
898 (% style="text-align:center" %)
899 [[image:1708934632681-933.png||_mstalt="296465"]]
900
901 === **MC_HALT** ===
902
903 ----
904
905 MC_HALT
906
907 (% style="text-align:center" %)
908 [[image:1708934697518-386.png||_mstalt="299234"]]
909
910 This function block is often used to stop the motion of the controlled axis under normal operating conditions.
911
912 Device used (only a single device can be used, and device splicing and offset are not supported)
913
914 (% style="width:1455px" %)
915 |=**Instruction**|=**Parameter**|=(% colspan="24" style="width: 935px;" %)**Devices**|=(% colspan="2" style="width: 91px;" %)(((
916 **Index modification**
917 )))|=**Pulse expansion**
918 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|(% colspan="2" style="width:22px" %)**E**|(% style="width:140px" %)**[D]**|(% colspan="2" %)**XXP**
919 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
920 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
921 |Jerk| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
922 |Axis| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
923 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
924 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
925 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
926 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
927 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
928 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
929
930 Precautions for use of devices
931
932 * LC and HSC are signed 32-bit data types;
933 * T, C, D, R and SD are signed 16-bit data types;
934
935 Variable Type Used
936
937 |**Instruction**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
938 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|BOOL|No|TRUE/FALSE|Enable
939 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
940 |Jerk|LREAL|No|0 to 9999999.00|Jerk
941 |Axis|WORD|No|0 to 65535|Axis number
942 |Done|BOOL|No|TRUE/FALSE|Data valid or not
943 |Busy|BOOL|No|TRUE/FALSE|Busy sign
944 |Active|BOOL|No|TRUE/FALSE|Valid sign
945 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
946 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
947 |ErrorID|DWORD|No|-|Error code
948
949 Function
950
951 * If the controlled axis is in a continuous motion state, the rising edge of the Execute signal input by the MC_Halt function block triggers the activation of the function block, so that the state of the controlled axis changes to the intermittent motion state. Similarly, if the controlled axis is in an intermittent motion state or a synchronous motion state, the activation of the MC_HALT function block will keep the controlled axis in an intermittent motion state. This function block is often used to stop the motion of the controlled axis under normal operating conditions.
952
953 Precautions
954
955 * This function block is not available when the axis does not exist.
956
957 Error code
958
959 |=**Error code**|=**Content**
960 |4084H|Data beyond the specifiable range was entered.
961
962 **Sequence diagram**
963
964 * After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:(((
965 (% style="text-align:center" %)
966 [[image:1708935236792-154.png||_mstalt="296127"]]
967 )))
968
969 * After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:
970
971 (% style="text-align:center" %)
972 [[image:1708935259573-284.png||_mstalt="297609"]]
973
974 * When executing MC_HALT, showdown failure happens, sequence diagram is as follows:
975
976 (% style="text-align:center" %)
977 [[image:1708935287683-523.png||_mstalt="297037"]]
978
979 === **MC_MOVEABSOLUTE** ===
980
981 ----
982
983 MC_MOVEABSOLUTE
984
985 (% style="text-align:center" %)
986 [[image:1708935525380-170.png||_mstalt="294034"]]
987
988 The function block makes the controlled axis reach the set absolute position with the input parameters.
989
990 Device used (only a single device can be used, and device splicing and offset are not supported)
991
992 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
993 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
994 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
995 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
996 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
997 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
998 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
999 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1000 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1001 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1002 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1003 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1004 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1005 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1006 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1007 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1008 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1009
1010 Precautions for use of devices
1011
1012 * LC and HSC are signed 32-bit data types;
1013 * T, C, D, R and SD are signed 16-bit data types;
1014
1015 Variable Type Used
1016
1017
1018 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1019 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
1020 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1021 |Position|LREAL|No|-9999999.00~~9999999.00|Absolute position
1022 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1023 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1024 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1025 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1026 |BufferMode|WORD|No|0 to 5|Mode selection
1027 |Axis|WORD|No|0 to 65535|Axis number
1028 |Done|BOOL|No|TRUE/FALSE|Completion sign
1029 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1030 |Active|BOOL|No|TRUE/FALSE|Valid sign
1031 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1032 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1033 |ErrorID|DWORD|No|-|Error code
1034
1035 Function
1036
1037 * The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).
1038
1039 Precautions
1040
1041 * This function block is not available when the axis does not exist.
1042
1043 Error code
1044
1045 |=**Error code**|=**Content**
1046 |4084H|Data beyond the specifiable range was entered.
1047
1048 Sequence diagram
1049
1050 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1051
1052 (% style="text-align:center" %)
1053 [[image:1708935703902-764.png||_mstalt="296088"]]
1054
1055 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1056
1057 (% style="text-align:center" %)
1058 [[image:1708935740101-262.png||_mstalt="292266"]]
1059
1060 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1061
1062 (% style="text-align:center" %)
1063 [[image:1708935762521-958.png||_mstalt="297843"]]
1064
1065 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):
1066
1067 (% style="text-align:center" %)
1068 [[image:1708935788803-332.png||_mstalt="296166"]]
1069
1070 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1071
1072 (% style="text-align:center" %)
1073 [[image:1708935816541-212.png||_mstalt="293501"]]
1074
1075 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1076
1077 (% style="text-align:center" %)
1078 [[image:1708935852123-588.png||_mstalt="297206"]]
1079
1080 * mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1081
1082 (% style="text-align:center" %)
1083 [[image:1708935874762-466.png||_mstalt="298584"]]
1084
1085
1086 === **MC_MOVERELATIVE** ===
1087
1088 ----
1089
1090 MC_MOVERELATIVE
1091
1092 (% style="text-align:center" %)
1093 [[image:1708935994795-183.png||_mstalt="299455"]]
1094
1095 The function block makes the controlled axis reach the set absolute position with the input parameters.
1096
1097 Device used (only a single device can be used, and device splicing and offset are not supported)
1098
1099 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1100 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1101 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1102 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1103 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1104 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1105 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1106 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1107 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1108 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1109 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1110 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1111 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1112 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1113 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1114 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1115 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1116
1117 Precautions for use of devices
1118
1119 * LC and HSC are signed 32-bit data types;
1120 * T, C, D, R and SD are signed 16-bit data types.
1121
1122 Variable Type Used
1123
1124
1125 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1126 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1127 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1128 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1129 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1130 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1131 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1132 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1133 |BufferMode|WORD|No|0 to 5|Mode selection
1134 |Axis|WORD|No|0 to 65535|Axis number
1135 |Done|BOOL|No|TRUE/FALSE|Completion sign
1136 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1137 |Active|BOOL|No|TRUE/FALSE|Valid sign
1138 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1139 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1140 |ErrorID|DWORD|No|-|Error code
1141
1142 Function
1143
1144 * The function block takes the current position as the starting point of motion and controls the controlled axis to reach the set relative position (Distance) with the set parameters (velocity, acceleration, deceleration and jerk), It refers to the motion control that takes starting point of the motion + Distance as the end point.
1145
1146 Precautions
1147
1148 * This function block is not available when the axis does not exist.
1149
1150 Error code
1151
1152 |=**Error code**|=**Content**
1153 |4084H|Data beyond the specifiable range was entered.
1154
1155 Sequence diagram
1156
1157 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1158
1159 (% style="text-align:center" %)
1160 [[image:1708936170353-654.png||_mstalt="295438"]]
1161
1162 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1163
1164 (% style="text-align:center" %)
1165 [[image:1708936200749-506.png||_mstalt="295282"]]
1166
1167 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1168
1169 (% style="text-align:center" %)
1170 [[image:1708936252703-706.png||_mstalt="294801"]]
1171
1172 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)(((
1173 (% style="text-align:center" %)
1174 [[image:1708936284791-539.png||_mstalt="298623"]]
1175 )))
1176
1177 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1178
1179 (% style="text-align:center" %)
1180 [[image:1708936309446-511.png||_mstalt="294723"]]
1181
1182 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1183
1184 (% style="text-align:center" %)
1185 [[image:1708936332278-409.png||_mstalt="296439"]]
1186
1187 * McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1188
1189 (% style="text-align:center" %)
1190 [[image:1708936365320-929.png||_mstalt="296660"]]
1191
1192 === **MC_MOVEADDITIVE** ===
1193
1194 ----
1195
1196 MC_MOVEADDITIVE
1197
1198 (% style="text-align:center" %)
1199 [[image:1708936429637-442.png||_mstalt="296634"]]
1200
1201 This function block is a motion increment function block.
1202
1203 Device used (only a single device can be used, and device splicing and offset are not supported)
1204
1205 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1206 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1207 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1208 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1209 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1210 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1211 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1212 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1213 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1214 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1215 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1216 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1217 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1218 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1219 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1220 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1221 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1222
1223 Precautions for use of devices
1224
1225 * LC and HSC are signed 32-bit data types;
1226 * T, C, D, R and SD are signed 16-bit data types.
1227
1228 Variable Type Used
1229
1230 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1231 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1232 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1233 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1234 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1235 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1236 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1237 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1238 |BufferMode|WORD|No|0 to 5|Mode selection
1239 |Axis|WORD|No|0 to 65535|Axis number
1240 |Done|BOOL|No|TRUE/FALSE|Completion sign
1241 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1242 |Active|BOOL|No|TRUE/FALSE|Valid sign
1243 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1244 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1245 |ErrorID|DWORD|No|-|Error code
1246
1247 Function
1248
1249 * It is used to add the input parameters (velocity, acceleration, deceleration and jerk) specified by this function block to reach the specified distance (Distance) on the basis of existing motion, i.e., adding distance.
1250
1251 Precautions
1252
1253 * This function block is not available when the axis does not exist.
1254
1255 Error code
1256
1257 |=**Error code**|=**Content**
1258 |4084H|Data beyond the specifiable range was entered.
1259
1260 Sequence diagram
1261
1262 When using MC_MOVEABSOLUTE with MC_MOVEADDITIVE together, and when the tagret position of MC_MOVEABSOLUTE is 10 and velocity is 5, the stacked position of MC_MOVEADDITIVE is 15 and velocity is 10, the relationship between position and velocity of Axis_0 is as follows:
1263
1264 (% style="text-align:center" %)
1265 [[image:1708936628466-218.png||_mstalt="297193"]]
1266
1267 === **MC_MOVESUPERIMPOSED** ===
1268
1269 ----
1270
1271 MC_MOVESUPERIMPOSED
1272
1273 (% style="text-align:center" %)
1274 [[image:1708936695676-290.png||_mstalt="298506"]]
1275
1276 This function block is a motion superposition function block.
1277
1278 Device used (only a single device can be used, and device splicing and offset are not supported)
1279
1280 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1281 **Index**
1282
1283 **modification**
1284 )))|=(((
1285 **Pulse**
1286
1287 **expansion**
1288 )))
1289 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1290 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1291 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1292 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1293 |VelocityDiff| | | | | | | | | | | | | | | | | | | | | | | | | |
1294 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1295 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1296 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1297 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1298 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1299 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1300 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1301 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1302 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1303 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1304 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1305
1306 Precautions for use of devices
1307
1308 * LC and HSC are signed 32-bit data types;
1309 * T, C, D, R and SD are signed 16-bit data types;
1310
1311 Variable Type Used
1312
1313 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1314 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|BOOL|No|TRUE/FALSE|Enable
1315 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1316 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1317 |VelocityDiff|LREAL|No|0 to 9999999.00|Velocity
1318 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1319 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1320 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1321 |BufferMode|WORD|No|0 to 5|Mode selection
1322 |Axis|WORD|No|0 to 65535|Axis number
1323 |Done|BOOL|No|TRUE/FALSE|Completion sign
1324 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1325 |Active|BOOL|No|TRUE/FALSE|Valid sign
1326 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1327 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1328 |ErrorID|DWORD|No|-|Error code
1329
1330 Function
1331
1332 * This function block is used to superpose the motion, which means that on the basis of current motion speed, the velocity difference is added so that the input acceleration, deceleration and jerk are also increased based on the original motion values, i.e., increasing the velocity and making the controlled axis move to the specified (relative) distance (Distance).
1333
1334 Precautions
1335
1336 * This function block is not available when the axis does not exist;
1337 * When it executes, the previous function block should be executed first.
1338
1339 Error code
1340
1341 |=**Error code**|=**Content**
1342 |4084H|Data beyond the specifiable range was entered.
1343
1344 Sequence diagram
1345
1346 (% style="text-align:center" %)
1347 [[image:1708936849134-999.png||_mstalt="300794"]]
1348
1349
1350 == **Management Function Blocks for Multi-axis Motion Control** ==
1351
1352 ----
1353
1354 === **MC_CAMTABLESELECT** ===
1355
1356 ----
1357
1358 MC_CAMTABLESELECT
1359
1360 (% style="text-align:center" %)
1361 [[image:1708937013155-415.png||_mstalt="293540"]]
1362
1363 This function block is used to bind the cam table.
1364
1365 Device used (only a single device can be used, and device splicing and offset are not supported)
1366
1367
1368 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1369 **Index**
1370
1371 **modification**
1372 )))|=(((
1373 **Pulse**
1374
1375 **expansion**
1376 )))
1377 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1378 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1379 |Periodic|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1380 |MasterAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1381 |SlaveAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1382 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1383 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1384 |CamTable| | | | | | | | | | | | | | | | |●| | | | | | | | |
1385 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1386 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1387 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1388 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1389 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1390
1391 Precautions for use of devices
1392
1393 * LC and HSC are signed 32-bit data types;
1394 * T, C, D, R and SD are signed 16-bit data types;
1395
1396 Variable Type Used
1397
1398 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1399 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|BOOL|No|TRUE/FALSE|Enable
1400 |Periodic|BOOL|No|TRUE/FALSE|Cyclic mode setting
1401 |MasterAbsolute|BOOL|No|TRUE/FALSE|Master axis position mode setting
1402 |SlaveAbsolute|BOOL|No|TRUE/FALSE|Slave axis position mode setting
1403 |Master|WORD|No|-|Master axis
1404 |Slave|WORD|No|-|Slave axis
1405 |CamTable|Cam table (INT type variable)|No|-|Cam table
1406 |Done|BOOL|No|TRUE/FALSE|Completion sign
1407 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1408 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1409 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1410 |CamTableID|WORD|No|-|Cam table identification number
1411
1412 Function
1413
1414 * When MasterAbsolute is true, it means the master axis is under the absolute mode; when MasterAbsolute is false, it means the master axis is under the relative mode;
1415 * When SlaveAbsolute is true, it means the slave axis is under the absolute mode; when SlaveAbsolute is false, it means the slave axis is under the relative mode;
1416 * This function block is used to bind the cam table, that is, to bind the input master axis, slave axis and cam table. When calling MC_CAMIN function block, only the cam table bound by this function block can be used.
1417
1418 Precautions
1419
1420 * This function block is not available when the axis does not exist.
1421
1422 Error code
1423
1424 |=**Error code**|=**Content**
1425 |4084H|Data beyond the specifiable range was entered.
1426
1427 Sequence diagram
1428
1429 (% style="text-align:center" %)
1430 [[image:1708937230885-390.png||_mstalt="296439"]]
1431
1432 === **MC_GENERATECAMTABLE** ===
1433
1434 ----
1435
1436 MC_GENERATECAMTABLE
1437
1438 (% style="text-align:center" %)
1439 [[image:1708937316371-993.png||_mstalt="297687"]]
1440
1441 This function block is used to update the cam table.
1442
1443 Device used (Only a single device can be used, and device splicing and offset are not supported)
1444
1445 |=(((
1446
1447
1448 **Instruction**
1449 )))|=(((
1450
1451
1452 **Parameter**
1453 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1454 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1455 |(% colspan="1" rowspan="10" %)(((
1456
1457
1458
1459
1460 MC_GENERATECAMTABLE
1461 )))|Execute|[[image:1708937346410-601.png||_mstalt="292851"]]|[[image:1708937346412-566.png||_mstalt="296283"]]|[[image:1708937346413-140.png||_mstalt="293072"]]|[[image:1708937346413-653.png||_mstalt="295620"]]|[[image:1708937346414-925.png||_mstalt="296426"]]| | | | | | | | | | | | | | | | | | | | |
1462 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1463 |CamNode| | | | | | | | | | | | | | | | | | | | | | | | | |
1464 |NodeNum| | | | | | | | | | | | | | | | |[[image:1708937346415-218.png||_mstalt="295373"]]| | | | | | | | |
1465 |(((
1466 Generatecam
1467
1468 TableMode
1469 )))| | | | | | | | | | | | | | | | |[[image:1708937346415-626.png||_mstalt="296153"]]| | | | | | | | |
1470 |Done| |[[image:1708937346416-119.png||_mstalt="295646"]]|[[image:1708937346417-650.png||_mstalt="295711"]]|[[image:1708937346418-420.png||_mstalt="294554"]]|[[image:1708937346419-124.png||_mstalt="295178"]]| | | | | | | | | | | | | | | | | | | | |
1471 |Busy| |[[image:1708937346421-759.png||_mstalt="297427"]]|[[image:1708937346423-907.png||_mstalt="296439"]]|[[image:1708937346423-338.png||_mstalt="295958"]]|[[image:1708937346424-801.png||_mstalt="294619"]]| | | | | | | | | | | | | | | | | | | | |
1472 |InstructionAborted| |(((
1473 [[image:1708937346425-166.png||_mstalt="296166"]]
1474
1475 [[image:1708937346425-794.png||_mstalt="298064"]]
1476 )))|(((
1477 [[image:1708937346426-497.png||_mstalt="298389"]]
1478
1479 [[image:1708937346427-332.png||_mstalt="295152"]]
1480 )))|(((
1481 [[image:1708937346427-282.png||_mstalt="296309"]]
1482
1483 [[image:1708937346428-957.png||_mstalt="299104"]]
1484 )))|(((
1485 [[image:1708937346429-449.png||_mstalt="298298"]]
1486
1487
1488 )))| | | | | | | | | | | | | | | | | | | | |
1489 |Error| | | | |[[image:1708937346429-635.png||_mstalt="297362"]]| | | | | | | | | | | | | | | | | | | | |
1490 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1491
1492 Precautions for use of devices
1493
1494 * LC and HSC are signed 32-bit data types;
1495 * T, C, D, R and SD are signed 16-bit data types;
1496
1497 Variable type used
1498
1499 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1500 |(% colspan="1" rowspan="10" %)(((
1501
1502
1503
1504
1505
1506 MC_GENERATECAMTABLE
1507 )))|(% colspan="1" rowspan="5" %)(((
1508
1509
1510
1511 Input
1512 )))|Execute|BOOL|No|TRUE/FALSE|Enable
1513 |CamTableID|INT|No| |Cam tableID
1514 |CamNode|(((
1515 ARRAY
1516
1517 (CAMNODET)
1518 )))|No|-|Array of cam nodes
1519 |NodeNum|INT|No|2 ～361|Number of cam nodes
1520 |(((
1521 GeneratecamTable
1522
1523 Mode
1524 )))|(((
1525
1526
1527 INT
1528 )))|(((
1529
1530
1531 No
1532 )))|(((
1533
1534
1535
1536 )))|(((
1537 Effective mode
1538
1539 0： Effective in the next cam cycle;
1540
1541 Others: Reserved
1542 )))
1543 |(% colspan="1" rowspan="5" %)(((
1544
1545
1546
1547 Output
1548 )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1549 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1550 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1551 |Error|BOOL|Yes| |Whether there is an error or not
1552 |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1553
1554 Function
1555
1556 * This function block is used to update cam table. At the rising edge of startup, the cam data is calculated based on values of input variables camNode and NodeNum. The data is updated to the cam table specified by camTable, which is will be effective in the next cam cycle.
1557
1558 (% class="box infomessage" %)
1559 (((
1560 **✎Note:**
1561
1562 ~1. This function block is not available when the Cam table does not exist.
1563
1564 2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C
1565 )))
1566
1567 Sequence diagram
1568
1569 (% style="text-align:center" %)
1570 [[image:Picture12.png]]
1571
1572
1573 === **MC_SAVECAMTABLE** ===
1574
1575 ----
1576
1577 MC_SAVECAMTABLE
1578
1579 (% style="text-align:center" %)
1580 [[image:1708937631240-106.png||_mstalt="292552"]]
1581
1582 This function block is used to save the cam table.
1583
1584 Device used (Only a single device can be used, and device splicing and offset are not supported)
1585
1586 |=(((
1587
1588
1589 **Instruction**
1590 )))|=(((
1591
1592
1593 **Parameter**
1594 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1595 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1596 |(% colspan="1" rowspan="7" %)(((
1597
1598
1599
1600 MC_SAVECAMTABLE
1601 )))|Execute|[[image:1708937655104-706.png||_mstalt="295243"]]|[[image:1708937655106-671.png||_mstalt="295971"]]|[[image:1708937655107-449.png||_mstalt="297206"]]|[[image:1708937655108-356.png||_mstalt="296569"]]|[[image:1708937655108-481.png||_mstalt="296205"]]| | | | | | | | | | | | | | | | | | | | |
1602 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1603 |Done| |[[image:1708937655109-459.png||_mstalt="297986"]]|[[image:1708937655110-668.png||_mstalt="296530"]]|[[image:1708937655111-873.png||_mstalt="296114"]]|[[image:1708937655111-699.png||_mstalt="297934"]]| | | | | | | | | | | | | | | | | | | | |
1604 |Busy| |[[image:1708937655112-723.png||_mstalt="294658"]]|[[image:1708937655113-511.png||_mstalt="293475"]]|[[image:1708937655113-220.png||_mstalt="292643"]]|[[image:1708937655114-762.png||_mstalt="295997"]]| | | | | | | | | | | | | | | | | | | | |
1605 |InstructionAborted| |[[image:1708937655115-940.png||_mstalt="295620"]]|[[image:1708937655116-761.png||_mstalt="296192"]]|[[image:1708937655116-242.png||_mstalt="294554"]]|[[image:1708937655117-517.png||_mstalt="296257"]]| | | | | | | | | | | | | | | | | | | | |
1606 |Error| |[[image:1708937655118-872.png||_mstalt="297544"]]|[[image:1708937655121-206.png||_mstalt="293605"]]|[[image:1708937655122-669.png||_mstalt="297557"]]|[[image:1708937655123-657.png||_mstalt="296920"]]| | | | | | | | | | | | | | | | | | | | |
1607 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1608
1609 Precautions for use of devices
1610
1611 * LC and HSC are signed 32-bit data types;
1612 * T, C, D, R and SD are signed 16-bit data types;
1613
1614 Variable type used
1615
1616 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1617 |(% colspan="1" rowspan="7" %)(((
1618
1619
1620
1621
1622 MC_SAVECAMTABLE
1623 )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1624 |CamTableID|INT|No|-|Cam tableID
1625 |(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1628 |Error|BOOL|Yes|-|Whether there is an error or not
1629 |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1630
1631 Function
1632
1633 * This function block is used to save the specified cam table.
1634
1635 (% class="box infomessage" %)
1636 (((
1637 (% _mstmutation="1" %)**✎Note:**(%%)This function block is not available when the Cam table does not exist.
1638
1639 In the process of executing this instruction, the controller cannot be powered off. Otherwise, the data will fail to be saved and the cam data will be lost.
1640 )))
1641
1642 Error code
1643
1644 |=**Error code**|=**Content**
1645 |4084H|Data beyond the specifiable range was entered.
1646
1647 Sequence diagram
1648
1649 (% style="text-align:center" %)
1650 [[image:1708937834226-438.png||_mstalt="296829"]]
1651
1652 == **Motion Function Block for Multi-axis Motion Control** ==
1653
1654 ----
1655
1656 === **MC_CAMIN** ===
1657
1658 ----
1659
1660 MC_CAMIN
1661
1662 (% style="text-align:center" %)
1663 [[image:1708937946127-139.png||_mstalt="297128"]]
1664
1665 The function block enables the controlled axis to carry out cam motion.
1666
1667 Device used (only a single device can be used, and device splicing and offset are not supported)
1668
1669 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1670 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1671 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1672 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1673 |MasterIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1674 |SlaveIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1675 |MasterScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1676 |SlaveScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1677 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
1678 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
1679 |StartMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1680 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1681 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1682 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1683 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1684 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1685 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1686 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1687 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1688 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1689 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1690 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1691 |EndOfProfile| | | | | | | | | | | | | | | | | | | | | | | | | |
1692
1693 Precautions for use of devices
1694
1695 * LC and HSC are signed 32-bit data types;
1696 * T, C, D, R and SD are signed 16-bit data types;
1697
1698 Variable Type Used
1699
1700 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1701 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|BOOL|No|TRUE/FALSE|Enable
1702 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1703 |MasterIndex|LREAL|No|-9999999.00~~9999999.00|Master axis offset
1704 |SlaveIndex|LREAL|No|-9999999.00~~9999999.00|Slave axis bias
1705 |MasterScaling|LREAL|No|-9999999.00~~9999999.00|Master axis scaling factor
1706 |SlaveScaling|LREAL|No|-9999999.00~~9999999.00|Slave axis scaling factor
1707 |MasterStartDistance|LREAL|No|-9999999.00~~9999999.00 (not 0)|Master axis starting distance
1708 |MasterSyncPosition|LREAL|No|-9999999.00~~9999999.00|Master axis synchronization position
1709 |StartMode|WORD|No|0 to 2|Start mode (0-Absolute, 1-Relative, 2-Catchup)
1710 |MasterValueSource|WORD|No|0 to 2|(((
1711 Master axis synchronization source
1712
1713 (Instruction value, set value and actual value)
1714 )))
1715 |CamTableID|WORD|No|0 to 9999999.00|Electronic CAM table identification
1716 |BufferMode|WORD|No|0|Mode selection
1717 |Master|WORD|No|-|Master axis
1718 |Slave|WORD|No|-|Slave axis
1719 |InSync|BOOL|No|TRUE/FALSE|Completion sign
1720 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1721 |Active|BOOL|No|TRUE/FALSE|Valid sign
1722 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1723 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1724 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1725 |EndOfProfile|WORD|No|-|Electronic CAM end signal
1726
1727 Function
1728
1729 * This function starts with the input parameter MasterSyncPosition. Before reaching the MasterSyncPosition, the catchup or transition motion is carried out according to the set parameters (absolute relative of the master axis, absolute relative of the slave axis, starting mode). After reaching the MasterSyncPosition position, the positional relationship between the master axis and the slave axis is obtained according to the camTableID, and the relationship is corrected under the set offset and scaling factors of the master axis and the slave axis, and the cam motion is carried out.
1730 * MasterSyncPosition
1731
1732 MasterSyncPosition is the absolute position when the axis mode is absolute;
1733
1734 MasterSyncPosition is the relative position when the axis mode is relative;
1735
1736 * ImSync status bit is turned ON when the master axis reaches MasterSyncPosition position and the slave axis reaches the slave axis position corresponding to the cam table of the master axis. Generally speaking, when the slave axis is in relative mode, the MC_CAMIN instruction is executed, and this status bit will be turned ON immediately; when the slave axis is in absolute or tracing mode, the status bit will be turned ON immediately after the slave axis jumps or traces to the position corresponding to the master axis cam table.
1737 * The EndOfProfle status bit is turned ON after the slave axis has followed the master axis through the entire cam table; The StartMode parameter, together with the MasterAbsolute/SlaverAbsolute parameters in the MC_CAMTABLESELECT instruction, determines the motion mode of the master/slave axis.
1738 * The master mode is only determined by MasterAbsolute and is not affected by the value in StartMode. The slave axis mode is expressed as follows:
1739
1740 |=**StartMode**|=**SlaveAbsolute**|=**Slave axis mode**
1741 |Absolute|Relative|Relative
1742 |Absolute|Absolute|Absolute
1743 |Relative|Relative|Relative
1744 |Relative|Absolute|Relative
1745 |Catch up|Relative|Relative catch up
1746 |Catch up|Absolute|Relative catch up
1747
1748 |=**Master axis mode**|=**Slave axis mode**|=**Result**
1749 |(% colspan="1" rowspan="4" %)Relative|Relative|(((
1750 When CAMIN is executed, slave axis position jumps to the set offset position;
1751
1752 When master axis is executing, slave axis performs relative motion according to the start position of cam table.
1753 )))
1754 |Absolute|(((
1755 When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0);
1756
1757 When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
1758 )))
1759 |Relative|(((
1760 When CAMIN is executed, slave axis position catches up to the set offset position;
1761
1762 When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
1763 )))
1764 |Absolute catch up|(((
1765 When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0);
1766
1767 When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
1768 )))
1769 |(% colspan="1" rowspan="4" %)Absolute|Relative|(((
1770 When CAMIN is executed, slave axis position jumps to the set offset position;
1771
1772 When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
1773 )))
1774 |Absolute|(((
1775 When CAMIN is executed, slave axis position jumps to the current slave axis position corresponding to the master axis in the cam table (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1776
1777 After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
1778 )))
1779 |Relative catch up|(((
1780 When CAMIN is executed, slave axis position catches up to the set offset position;
1781
1782 When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
1783 )))
1784 |Absolute catch up|(((
1785 When CAMIN is executed, slave axis position catches up to the current slave axis position corresponding to the master axis in the cam table
1786
1787 (For example, if the current position of the master axis is 100 and the slave axis point corresponding to the master axis point 100 in the cam table is 200, the slave axis jumps after CAMIN is executed;)
1788
1789 After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.
1790 )))
1791
1792 * When axis is in absolute mode, if the current position of the axis is not within the range of the axis in the cam table, it will be processed by self-acting periodization.
1793
1794 Example: the current axis position is 110, and the axis position in the cam table is 0~~100, then the default axis position after CAMIN execution is 10 (the actual axis position does not change);
1795
1796 * The master-slave axis multiplier and master-slave axis offset parameters take effect when CAMIN is executed and do not support modification in the process; unsuitable parameters will cause the slave axis position to jump.
1797 * The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):
1798
1799 Master Position = Master Position * Master Multiplier + Master Offset
1800
1801 Slave position = Slave multiplier * CAM (spindle position) + Slave offset
1802
1803 * The master-slave multiplier cannot be 0.
1804
1805 Precautions
1806
1807 * This function block is not available when the axis does not exist;
1808 * The motion mode of the slave axis shall be determined according to start mode and SlaveAbsolute of CamtableSelect. See “Chapter 8.6” [Description of Several Modes in E-CAM] for details. MasterValueSource is now an actual value regardless of which mode you choose.
1809
1810 Error code
1811
1812 |=**Error code**|=**Content**
1813 |4084H|Data beyond the specifiable range was entered.
1814
1815 Sequence diagram
1816
1817 ▪ MC_CAMIN needs to be used in conjunction with MC_CAMTABLESELECT and a single-axis motion (e.g., MC_MOVEABSOLUTE), the sequence diagram is as follows.
1818
1819 (% style="text-align:center" %)
1820 [[image:1708938240121-859.png||_mstalt="295776"]]
1821
1822 (1) Slave motion varies depending on StartMode.
1823
1824 Assume that the start conditions for cam motion are as follows:
1825
1826 ▪ In condition 1, the master axis jumps at the position of 20 (70~~50), and the jumping position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) changes to TRUE when it passes the position of 70, and the slave axis starts camming.
1827
1828 ▪ In condition 2, the master axis will catch up at 20 (70~~50), and the catch-up position is the cam table position corresponding to masterSyncPosition, and the output variable InSync (in synchronization) becomes TRUE when it passes the position of 70, and the slave axis starts camming.
1829
1830 ▪ In condition 3, the output variable InSync (in synchronization) becomes TRUE when the master axis passes the position of 70, and the slave axis starts camming.
1831
1832
1833 |=**Input variable**|=**Condition 1**|=**Condition 2**|=**Condition 3**
1834 |MasterAbsolute|True (Absolute)|True (Absolute)|True (Absolute)
1835 |SlaveAbsolute|True (Absolute)|True (Absolute)|FALSE (Relative)
1836 |StartMode|MC_START_MODE_ABSOLUTE|MC_START_MODE_RAMPIN|MC_START_MODE_RELATIVE
1837 |MasterSyncPosition|70|70|70
1838 |MasterDistace|50|50|50
1839 |MasterOffset|0|0|0
1840 |SlaveOffset|0|0|0
1841 |MasterScaling|1|1|1
1842 |SlaveScaling|1|1|1
1843
1844 (2) Slave motion varies depending on MasterAbsolute.
1845
1846 (% style="text-align:center" %)
1847 [[image:1708938293300-489.png||_mstalt="296868"]]
1848
1849 (% style="text-align:center" %)
1850 [[image:1708938305434-874.png||_mstalt="296933"]]
1851
1852
1853 (% style="text-align:center" %)
1854 [[image:1708938314862-131.png||_mstalt="294060"]]
1855
1856 (3)Slave motion varies depending on SlaveAbsolute.
1857
1858
1859 (% style="text-align:center" %)
1860 [[image:1708938393382-857.png||_mstalt="299052"]]
1861
1862 (% style="text-align:center" %)
1863 [[image:1708938413402-528.png||_mstalt="294645"]]
1864
1865
1866 === **MC_CAMOUT** ===
1867
1868 ----
1869
1870 MC_CAMOUT
1871
1872 (% style="text-align:center" %)
1873 [[image:1708938462508-819.png||_mstalt="297947"]]
1874
1875 The function block enables the controlled axis to carry out uniform motion at current velocity.
1876
1877 Device used (only a single device can be used, and device splicing and offset are not supported)
1878
1879 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=(((
1880 **Pulse**
1881
1882 **expansion**
1883 )))
1884 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1885 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1886 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1887 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1888 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1889 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1890 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1891
1892 Precautions for use of devices
1893
1894 * LC and HSC are signed 32-bit data types;
1895 * T, C, D, R and SD are signed 16-bit data types;
1896
1897 Variable Type Used
1898
1899 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1900 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|BOOL|No|TRUE/FALSE|Enable
1901 |Slave|WORD|No|0 to 65535|Slave axis
1902 |Done|BOOL|No|TRUE/FALSE|Completion sign
1903 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1904 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1905 |ErrorID|DWORD|No|-|Error code
1906
1907 Function
1908
1909 * The function is used to separate the slave axis from the position relation specified for the electronic cam. Execute the MC_CamOut function block to transform the slave shaft from the synchronous state to the continuous motion state. The current velocity of the slave axis is maintained.
1910
1911 Precautions
1912
1913 * This function block is not available when the axis does not exist.
1914
1915 Sequence diagram
1916
1917 (% style="text-align:center" %)
1918 [[image:1708938589953-976.png||_mstalt="301886"]]
1919
1920
1921 === **MC_GEARIN** ===
1922
1923 ----
1924
1925 MC_GEARIN
1926
1927 (% style="text-align:center" %)
1928 [[image:1708938638291-674.png||_mstalt="298363"]]
1929
1930 The function block enables the controlled axis to carry out gear motion.
1931
1932 Device used (only a single device can be used, and device splicing and offset are not supported)
1933
1934 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1935 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1936 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1937 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1938 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
1939 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
1940 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1941 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1942 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1943 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1944 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1945 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1946 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1947 |InGear| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1948 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1949 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1950 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1951 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1952 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1953
1954 Precautions for use of devices
1955
1956 * LC and HSC are signed 32-bit data types;
1957 * T, C, D, R and SD are signed 16-bit data types;
1958
1959 Variable Type Used
1960
1961 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1962 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|BOOL|No|TRUE/FALSE|Enable
1963 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1964 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
1965 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
1966 |MasterValueSource|WORD|No|0 to 2|(((
1967 Master axis synchronization source
1968
1969 (Instruction value, set value and actual value)
1970 )))
1971 |Acceleration|LREAL|No|0 to 9999999.99999|Acceleration
1972 |Deceleration|LREAL|No|0 to 9999999.99999|Deceleration
1973 |Jerk|LREAL|No|0 to 9999999.99999|Jerk
1974 |BufferMode|WORD|No|0 to 5|Selection
1975 |Master|WORD|No|0 to 65536|Master axis
1976 |Slave|WORD|No|0 to 65536|Slave axis
1977 |InGear|BOOL|No|TRUE/FALSE|Completion sign
1978 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1979 |Active|BOOL|No|TRUE/FALSE|Valid sign
1980 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1981 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1982 |ErrorID|DWORD|No|-|Error code
1983
1984 Function
1985
1986 * The function block is used for establishing the synchronization of the velocity ratio between the master axis and the slave axis. Firstly, the slave axis takes the velocity of master axis multiplied by the velocity ratio as the target velocity and moves at the set acceleration and jerk and executes gear motion according to the velocity of master axis when reaching the target motion.
1987
1988 Precautions
1989
1990 * This function block is not available when the axis does not exist.
1991
1992 Error code
1993
1994 |=**Error code**|=**Content**
1995 |4084H|Data beyond the specifiable range was entered.
1996
1997 Sequence diagram
1998
1999 * After starting the motion, the slave axis performs acceleration and deceleration with the velocity obtained by multiplying the spindle speed by the gear ratio as the target speed;
2000 * Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
2001 * The gear ratio is positive and the slave axis moves in the same direction as the master axis.
2002
2003 (% style="text-align:center" %)
2004 [[image:1708938826565-617.png||_mstalt="298246"]]
2005
2006 * The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.
2007
2008 (% style="text-align:center" %)
2009 [[image:1708938850653-961.png||_mstalt="297531"]]
2010
2011
2012 Before reaching synchronization, the slave axis moves according to the maximum acceleration set by the axis as plus or minus speed, and the slave axis velocity is recognized when it is equal to the speed of the master axis multiplied by the gear ratio.
2013
2014 When the speed of the slave axis equals the speed of the master axis multiplied by the gear ratio, the gears are recognized as meshing, and thereafter the slave axis follows the master axis completely.
2015
2016 1. Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)(((
2017 (% style="text-align:center" %)
2018 [[image:1708938900938-930.png||_mstalt="297011"]]
2019 )))
2020 1. Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)(((
2021 (% style="text-align:center" %)
2022 [[image:1708938892131-173.png||_mstalt="295360"]]
2023 )))
2024
2025 === **MC_GEAROUT** ===
2026
2027 ----
2028
2029 MC_GEAROUT
2030
2031 (% style="text-align:center" %)
2032 [[image:1708938960939-798.png||_mstalt="301990"]]
2033
2034 The function block enables the controlled axis to carry out uniform motion at current velocity.
2035
2036 Device used (only a single device can be used, and device splicing and offset are not supported)
2037
2038 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2039 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2040 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2041 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2042 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2043 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2044 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2045 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2046
2047 Precautions for use of devices
2048
2049 * LC and HSC are signed 32-bit data types;
2050 * T, C, D, R and SD are signed 16-bit data types;
2051
2052 Variable Type Used
2053
2054 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2055 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|BOOL|No|TRUE/FALSE|Enable
2056 |Slave|WORD|No|0 to 65535|Axis number
2057 |Done|BOOL|No|TRUE/FALSE|Completion sign
2058 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2059 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2060 |ErrorID|DWORD|No|-|Error code
2061
2062 Function
2063
2064 * The function block is used for separating the slave axis from the master axis at the velocity ratio and maintaining the motion at the velocity when it separates.
2065
2066 Precautions
2067
2068 * This function block is not available when the axis does not exist.
2069
2070 Sequence diagram
2071
2072 (% style="text-align:center" %)
2073 [[image:1708939163693-763.png||_mstalt="298233"]]
2074
2075 === ** MC_GEARINPOS** ===
2076
2077 ----
2078
2079 MC_GEARINPOS
2080
2081 (% style="text-align:center" %)
2082 [[image:1708939230407-562.png||_mstalt="294801"]]
2083
2084 The function block enables the controlled axis to carry out gear motion.
2085
2086 Device used (only a single device can be used, and device splicing and offset are not supported)
2087
2088
2089 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2090 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2091 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2092 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
2093 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
2094 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
2095 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2096 |SlaveSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2097 |SyncMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2098 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
2099 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2100 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2101 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2102 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2103 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2104 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
2105 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2106 |StartSync| | | | | | | | | | | | | | | | | | | | | | | | | |
2107 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2108 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2109 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2110 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2111 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2112 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2113
2114 Precautions for use of devices
2115
2116 * LC and HSC are signed 32-bit data types;
2117 * C, D, R and SD are signed 16-bit data types.
2118
2119 Variable Type Used
2120
2121 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2122 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|BOOL|No|TRUE/FALSE|Enable
2123 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
2124 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
2125 |MasterValueSource|WORD|No|0 to 2|(((
2126 Master axis synchronization source
2127
2128 (Instruction value, set value and actual value)
2129 )))
2130 |MasterSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Master axis synchronization position
2131 |SlaveSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Slave axis synchronization position
2132 |SyncMode|WORD|No|0 to 2|Synchronous mode (shortest, catchup, slowdown)
2133 |MasterStartDistance|LREAL|No|-9999999.999999 to 9999999.999999 (not 0)|Master axis starting distance
2134 |Velocity|LREAL|No|0 to 9999999.999999 (not 0)|Velocity
2135 |Acceleration|LREAL|No|0 to 9999999.999999 (not 0)|Acceleration
2136 |Deceleration|LREAL|No|0 to 9999999.999999 (not 0)|Deceleration
2137 |Jerk|LREAL|No|0 to 9999999.999999|Jerk
2138 |BufferMode|WORD|No|0 to 5|Buffer mode selection
2139 |Master|WORD|No|0 to 65535|Master axis
2140 |Slave|WORD|No|0 to 65535|Slave axis
2141 |StartSync|BOOL|No|TRUE/FALSE|Synchronous identification
2142 |InSync|BOOL|No|TRUE/FALSE|Synchronized sign
2143 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2144 |Active|BOOL|No|TRUE/FALSE|Valid sign
2145 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
2146 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2147 |ErrorID|DWORD|No|-|Error code
2148
2149 Function
2150
2151 * The function block is used to achieve the specified velocity ratio between the slave axis and master axis at the specific position through a set maximum velocity, acceleration, deceleration, jerk and synchronous mode.
2152
2153 Precautions
2154
2155 * This function block is not available when the axis does not exist.
2156
2157 Error code
2158
2159 |=**Error code**|=**Content**
2160 |4084H|Data beyond the specifiable range was entered.
2161
2162 Sequence diagram
2163
2164 * After starting the motion, the slave axis performs acceleration and deceleration with the speed obtained by multiplying the axis velocity by the gear ratio as the target velocity;
2165 * The position obtained by ▪ (MasterSyncPosition - MasterStartDistance) is called the start position, and after the master axis reaches this position, the slave axis starts to catching up with the target;
2166 * If the gear ratio is positive, the slave axis moves in the same direction as the master axis.
2167
2168 (% style="text-align:center" %)
2169 [[image:1708939532879-130.png||_mstalt="296231"]]
2170
2171 * If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.
2172
2173 (% style="text-align:center" %)
2174 [[image:1708939562781-830.png||_mstalt="296764"]]
2175
2176 * Before reaching synchronization, the slave axis moves at the maximum acceleration set by the axis as plus or minus speed, and is recognized when the slave axis speed is equal to the speed of the master axis multiplied by the gear ratio.
2177 * When the speed of the slave axis equals the velocity of the master axis multiplied by the gear ratio, the gears are considered to be meshed, and thereafter the slave axis follows the main axis completely.
2178
2179 1. The master axis moves at a constant speed until synchronization is achieved (The gear instruction is triggered at a gear ratio of 1:1).(((
2180 (% style="text-align:center" %)
2181 [[image:1708939646390-943.png||_mstalt="297947"]]
2182 )))
2183 1. (((
2184 Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)
2185
2186 (% style="text-align:center" %)
2187 [[image:1708939657645-807.png||_mstalt="298857"]]
2188 )))
2189
2190 gearInPos carries out the pursuit motion in the following three modes, all following the spindle in gear motion after the target speed has been reached:
2191
2192 * Shortest: catching in constant acceleration mode;
2193 * Catchuo: catching in S-curve;
2194 * Slowdown: catching up in T-curve.
2195
2196 (% class="box infomessage" %)
2197 (((
2198 **✎** **Note:** When the amount of movement in the chase is short, there may be an abrupt change in speed from the axis to the target position and then directly to the target speed.
2199 )))
2200
2201
2202
2203
2204
2205
2206
2207
2208
2209
2210
2211 == **Management functions of axis group motion control** ==
2212
2213 ----
2214
2215 === **MC_ADDAXISTOGROUP** ===
2216
2217 ----
2218
2219 MC_ADDAXISTOGROUP
2220
2221 (% style="text-align:center" %)
2222 [[image:1708999788060-281.png||_mstalt="297531"]]
2223
2224 The function block is to add axis to axis group.
2225
2226 Device used (Only a single device can be used, and device splicing and index are not supported)
2227
2228 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2229 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2230 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2231 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2232 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2233 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2234 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2235 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2236 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2237
2238 Precautions for use of devices
2239
2240 ▪LC and HSC are signed 32-bit data types;
2241
2242 ▪T, C, D, R and SD are signed 16-bit data types;
2243
2244 Variable type used
2245
2246 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2247 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2248 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2249 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2250 |Axis|WORD|No|[0 to 65535]|Axis number
2251 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2252 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2253 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2254 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2255
2256 Features
2257
2258 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2259
2260 ▪IndentInGroup is a flag of the adding axis order to axis group.
2261
2262 (% class="box infomessage" %)
2263 (((
2264 ✎Note:
2265
2266 ▪If the serial number of the axis group does not exist, an error will be reported;
2267
2268 ▪When the axis group is enabled, an error will be reported when add new axis;
2269
2270 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2271 )))
2272
2273 Error code
2274
2275 |=**Error code**|=**Content**
2276 |4084H|Data beyond the specifiable range was input.
2277
2278 (% style="font-size:14px" %)Sequence diagram
2279
2280 (% style="text-align:center" %)
2281 [[image:1709000371923-181.png||_mstalt="292591"]]
2282
2283 === **MC_REMOVEAXISFROMGROUP** ===
2284
2285 ----
2286
2287 MC_REMOVEAXISFROMGROUP
2288
2289 (% style="text-align:center" %)
2290 [[image:1709000436811-846.png||_mstalt="294346"]]
2291
2292 This function block removes axis from an axis group.
2293
2294 Device used (Only a single device can be used, and device splicing and index are not supported)
2295
2296 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2297 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2298 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2299 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2300 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2301 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2302 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2303 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2304 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2305
2306 Precautions for use of devices
2307
2308 ▪LC and HSC are signed 32-bit data types;
2309
2310 ▪T, C, D, R and SD are signed 16-bit data types;
2311
2312 Variable type used
2313
2314 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2315 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2316 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2317 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2318 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2319 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2320 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2321 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2322
2323 Features
2324
2325 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2326
2327 (% class="box infomessage" %)
2328 (((
2329 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2330
2331 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2332
2333 ▪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.
2334 )))
2335
2336 Error code
2337
2338 |=**Error code**|=**Content**
2339 |4084H|Data beyond the specifiable range was input.
2340
2341 Sequence diagram
2342
2343 (% style="text-align:center" %)
2344 [[image:1709000691345-890.png||_mstalt="295061"]]
2345
2346 === **MC_UNGROUPALLAXES** ===
2347
2348 ----
2349
2350 MC_UNGROUPALLAXES
2351
2352 (% style="text-align:center" %)
2353 [[image:1709000738471-185.png||_mstalt="294762"]]
2354
2355 This function block removes all the axes from an axis group.
2356
2357 Device used (Only a single device can be used, and device splicing and index are not supported)
2358
2359 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2360 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2361 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2362 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2363 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2364 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2365 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2366 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2367
2368 Precautions for use of devices
2369
2370 ▪LC and HSC are signed 32-bit data types;
2371
2372 ▪T, C, D, R and SD are signed 16-bit data types;
2373
2374 Variable type used
2375
2376 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2377 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2378 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2379 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2380 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2381 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2382 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2383
2384 Features
2385
2386 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2387
2388 (% class="box infomessage" %)
2389 (((
2390 ✎Note:
2391
2392 ▪If the serial number of the axis group does not exist, an error will be reported;
2393
2394 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2395 )))
2396
2397 Error code
2398
2399 |=**Error code**|=**Content**
2400 |4084H|Input data beyond the specifiable range
2401
2402 (% style="font-size:14px" %)Sequence diagram
2403
2404 (% style="text-align:center" %)
2405 [[image:1709001126146-829.png||_mstalt="294489"]]
2406
2407 === **MC_GROUPENABLE** ===
2408
2409 ----
2410
2411 MC_GROUPENABLE
2412
2413 (% style="text-align:center" %)
2414 [[image:1709001201497-541.png||_mstalt="292682"]]
2415
2416
2417 The function block is axis group enabled.
2418
2419 Device used (Only a single device can be used, and device splicing and index are not supported)
2420
2421 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2422 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2423 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2424 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2425 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2426 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2427 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2428 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2429
2430 Precautions for use of devices
2431
2432 ▪LC and HSC are signed 32-bit data types;
2433
2434 ▪T, C, D, R and SD are signed 16-bit data types.
2435
2436 Variable type used
2437
2438 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2439 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2440 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2441 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2442 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2443 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2444 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2445
2446 Features
2447
2448 ▪Enable axis group to run on the Execute rising edge.
2449
2450 (% class="box infomessage" %)
2451 (((
2452 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2453
2454 ▪When a single axis is running, enabling this block will report an error.
2455 )))
2456
2457 Error code
2458
2459 |=**Error code**|=**Content**
2460 |4084H|Input data beyond the specifiable range
2461
2462 === **MC_GROUPDISABLE** ===
2463
2464 ----
2465
2466 MC_GROUPDISABLE
2467
2468 (% style="text-align:center" %)
2469 [[image:1709001439118-784.png||_mstalt="295594"]]
2470
2471 This function block is axis group disabled.
2472
2473 Device used (Only a single device can be used, an d device splicing and index are not supported)
2474
2475 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2476 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2477 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2478 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2479 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2480 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2481 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2482 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2483
2484 Precautions for use of devices
2485
2486 ▪LC and HSC are signed 32-bit data types;
2487
2488 ▪T, C, D, R and SD are signed 16-bit data types.
2489
2490 Variable type used
2491
2492 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2493 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2494 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2495 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2496 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2497 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2498 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2499
2500 Features
2501
2502 ▪On the Execute rising edge, disable the axis group.
2503
2504 (% class="box infomessage" %)
2505 (((
2506 ✎Note:
2507
2508 ▪Single axis operation can only be executed when the group is disabled.
2509
2510 ▪When a single axis is running, disabling this block will report an error.
2511 )))
2512
2513 Error code
2514
2515 |=**Error code**|=**Content**
2516 |4084H|Input data beyond the specifiable range
2517
2518 === **MC_GROUPREDACTUALPOSITION** ===
2519
2520 ----
2521
2522 MC_GROUPREADACTUALPOSITION
2523
2524 (% style="text-align:center" %)
2525 [[image:1709001728776-330.png||_mstalt="294255"]]
2526
2527 This function block is to read the actual position of each axis from the axis group.
2528
2529 Device used (Only a single device can be used, and device splicing and index are not supported)
2530
2531 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2532 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2533 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2534 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2535 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2536 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2537 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2538 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2539 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2540 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2541
2542 Precautions for use of devices
2543
2544 ▪LC and HSC are signed 32-bit data types;
2545
2546 ▪T, C, D, R and SD are signed 16-bit data types.
2547
2548 Variable type used
2549
2550 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2551 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2552 |CoordSystem|WORD|Yes|0|Coordinate system
2553 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2554 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2555 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2556 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2557 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2558 |Position|LREAL array|Yes| |Position
2559
2560 Features
2561
2562 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2563
2564 Error code
2565
2566 |=**Error code**|=**Content**
2567 |4084H|Input data beyond the specifiable range
2568
2569 === **MC_GROUPREADACTUALVELOCITY** ===
2570
2571 ----
2572
2573 MC_GROUPREADACTUALVELOCITY
2574
2575 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2576 (((
2577 (% data-widget="image" style="text-align: center;" %)
2578 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2579
2580 (% style="background:url(~"https://docs.we-con.com.cn/webjars/wiki%3Axwiki/xwiki-platform-ckeditor-webjar/16.0.0/plugins/widget/images/handle.png~") rgba(220, 220, 220, 0.5); left:0px; top:-15px" %)[[image:data:image/gif;base64,R0lGODlhAQABAPABAP///wAAACH5BAEKAAAALAAAAAABAAEAAAICRAEAOw==||_mstalt="186680" height="15" role="presentation" title="Click and drag to move" width="15"]]
2581 )))
2582
2583 This function block is to read the actual velocity of each axis from the axis group.
2584
2585 Device used (Only a single device can be used, and device splicing and index are not supported)
2586
2587 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2588 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2589 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2590 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2591 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2592 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2593 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2594 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2595 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2596 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2597 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2598
2599 Precautions for use of devices
2600
2601 ▪LC and HSC are signed 32-bit data types;
2602
2603 ▪T, C, D, R and SD are signed 16-bit data types;
2604
2605 Variable type used
2606
2607
2608 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2609 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2610 |CoordSystem|WORD|Yes|0|Coordinate system
2611 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2612 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2613 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2614 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2615 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2616 |Velocity|LREAL array|Yes| |Velocity
2617 |PathVelocity|LREAL|Yes| |Path velocity
2618
2619 Features
2620
2621 * (((
2622 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.
2623 )))
2624
2625 Error code
2626
2627 |=**Error code**|=**Content**
2628 |4084H|Data beyond the specifiable range was input.
2629
2630 === **MC_GROUPREADERROR** ===
2631
2632 ----
2633
2634 MC_GROUPREADERROR
2635
2636 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2637 (((
2638 (% data-widget="image" style="text-align: center;" %)
2639 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2640
2641 (% style="background:url(~"https://docs.we-con.com.cn/webjars/wiki%3Axwiki/xwiki-platform-ckeditor-webjar/16.0.0/plugins/widget/images/handle.png~") rgba(220, 220, 220, 0.5); left:0px; top:-15px" %)[[image:data:image/gif;base64,R0lGODlhAQABAPABAP///wAAACH5BAEKAAAALAAAAAABAAEAAAICRAEAOw==||_mstalt="186680" height="15" role="presentation" title="Click and drag to move" width="15"]]
2642 )))
2643
2644
2645 The function block is axis group to read error.
2646
2647 Device used (Only a single device can be used, and device splicing and index are not supported)
2648
2649 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2650 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2651 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2652 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2653 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2654 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2655 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2656 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2657 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2658
2659 Precautions for use of devices
2660
2661 ▪LC and HSC are signed 32-bit data types;
2662
2663 ▪T, C, D, R and SD are signed 16-bit data types;
2664
2665 Variable type used
2666
2667 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2668 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2669 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2670 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2671 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2672 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2673 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2674 |GroupErrorID|DWROD|Yes| |Axis group error code
2675
2676 Features
2677
2678 ▪When Enable= true, read the axis group error status.
2679
2680 Error code
2681
2682 |=**Error code**|=**Content**
2683 |4084H|Input data beyond the specifiable range
2684
2685 === **MC_GROUPREADSTATUS** ===
2686
2687 ----
2688
2689 MC_GROUPREADSTATUS
2690
2691 (% style="text-align:center" %)
2692 [[image:1709002503132-985.png||_mstalt="293943"]]
2693
2694 This function block reads the status of the currently activated axis group.
2695
2696 Device used (Only a single device can be used, and device splicing and index are not supported)
2697
2698 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2699 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2700 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2701 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2702 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2703 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2704 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2705 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2706 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2707
2708 Precautions for use of devices
2709
2710 ▪LC and HSC are signed 32-bit data types;
2711
2712 ▪T, C, D, R and SD are signed 16-bit data types;
2713
2714 Variable type used
2715
2716 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2717 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2718 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2719 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2720 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2721 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2722 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2723 |GroupErrorID|DWROD|Yes| |Axis group error code
2724
2725 Features
2726
2727 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2728
2729 ▪ConstantVelocity is set to ON when moving at constant velocity on the command path.[[image:1709002654690-619.png||_mstalt="295698"]]Accelerating and decelerating is set to ON when the velocity increases or decreases on the command path.
2730
2731 ▪ InPosition is set to ON when reach the target position.
2732
2733 Error code
2734
2735 |=**Error code**|=**Content**
2736 |4084H|Input data beyond the specifiable range
2737
2738 === **MC_GROUPRESET** ===
2739
2740 ----
2741
2742 MC_GROUPRESET
2743
2744 (% style="text-align:center" %)
2745 [[image:1709002711461-974.png||_mstalt="294619"]]
2746
2747
2748 The function block is axis group reset.
2749
2750 Device used (Only a single device can be used, and device splicing and index are not supported)
2751
2752 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2753 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2754 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2755 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2756 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2757 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2758 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2759 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2760
2761 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2762 Precautions for use of devices
2763
2764 ▪LC and HSC are signed 32-bit data types;
2765
2766 ▪T, C, D, R and SD are signed 16-bit data types.
2767
2768 (% class="wikigeneratedid" id="HVariabletypeused" %)
2769 Variable type used
2770
2771 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2772 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2773 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2774 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2775 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2776 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2777 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2778
2779 Features
2780
2781 ▪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.
2782
2783 Error code
2784
2785 |=**Error code**|=**Content**
2786 |4084H|Input data beyond the specifiable range
2787
2788 === **MC_GROUPREADACTUALACCELERATION** ===
2789
2790 ----
2791
2792 MC_GROUPREADACTUALACCELERATION
2793
2794 (% style="text-align:center" %)
2795 [[image:1709002873108-663.png||_mstalt="294645"]]
2796
2797 This function block is to read the actual acceleration of each axis from the axis group.
2798
2799 Device used (Only a single device can be used, and device splicing and index are not supported)
2800
2801 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2802 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2803 |(% colspan="1" rowspan="9" %)(((
2804 MC_GROUPREADACTUALACCELERATION
2805
2806
2807 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2808 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2809 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2810 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2811 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2812 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2813 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2814 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2815 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2816
2817 Precautions for use of devices
2818
2819 ▪LC and HSC are signed 32-bit data types;
2820
2821 ▪T, C, D, R and SD are signed 16-bit data types;
2822
2823 Variable type used
2824
2825 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2826 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2827 |CoordSystem|WORD|Yes|0|Coordinate system
2828 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2829 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2830 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2831 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2832 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2833 |Acceleration|LREAL array|Yes| |Acceleration
2834 |PathAcceleration|LREAL|Yes| |Path acceleration
2835
2836 Features
2837
2838 ▪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.
2839
2840 Error code
2841
2842 |=**Error code**|=**Content**
2843 |4084H|Data beyond the specifiable range was input.
2844
2845 == **Axis group motion Function Blocks** ==
2846
2847 ----
2848
2849 === **MC_GROUPSTOP** ===
2850
2851 ----
2852
2853 MC_GROUPSTOP
2854
2855 (% style="text-align:center" %)
2856 [[image:1709003200997-104.png||_mstalt="292578"]]
2857
2858
2859 The function block is use to stop axis group.
2860
2861 Device used (Only a single device can be used, and device splicing and index are not supported)
2862
2863 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2864 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2865 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2866 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2867 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2868 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2869 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2870 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2871 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2872 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2873 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2874 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2875
2876 Precautions for use of devices
2877
2878 ▪LC and HSC are signed 32-bit data types;
2879
2880 ▪T, C, D, R and SD are signed 16-bit data types;
2881
2882 Variable type used
2883
2884 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2885 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2886 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2887 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2888 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2889 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2890 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2891 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2892 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2893 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2894 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2895
2896 Features
2897
2898 ▪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.
2899
2900 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2901
2902 ▪Only MC_GroupDisable can be used to interrupt axis group.
2903
2904 Error code
2905
2906 |=**Error code**|=**Content**
2907 |4084H|Input data beyond the specifiable range
2908
2909 === **MC_GROUPHALT** ===
2910
2911 ----
2912
2913 MC_GROUPHALT
2914
2915 (% style="text-align:center" %)
2916 [[image:1709003451573-543.png||_mstalt="293722"]]
2917
2918 The function block is to halt axis group.
2919
2920 Device used (Only a single device can be used, and device splicing and index are not supported)
2921
2922 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2923 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2924 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2925 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2926 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2927 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2928 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2929 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2930 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2931 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2932 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2933 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2934
2935 Precautions for use of devices
2936
2937 ▪LC and HSC are signed 32-bit data types;
2938
2939 ▪T, C, D, R and SD are signed 16-bit data types;
2940
2941 Variable type used
2942
2943 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2944 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2945 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2946 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2947 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2948 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2949 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2950 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2951 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2952 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2953 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2954
2955 Features
2956
2957 ▪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;
2958
2959 ▪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.
2960
2961 Error code
2962
2963 |=**Error code**|=**Content**
2964 |4084H|Data beyond the specifiable range was input.
2965
2966 === **MC_MOVELINEARABSOLUTE** ===
2967
2968 ----
2969
2970 MC_MOVELINEARABSOLUTE
2971
2972 (% style="text-align:center" %)
2973 [[image:1709003761756-581.png||_mstalt="295724"]]
2974
2975 This function block is absolute position linear interpolation.
2976
2977 Device used (Only a single device can be used, and device splicing and index are not supported)
2978
2979 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2980 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2981 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2982 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2983 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2984 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2985 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2986 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2987 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2988 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2989 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2990 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2991 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2992 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2993 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2994 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2995 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2996 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2997 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2998
2999 Precautions for use of devices
3000
3001 ▪LC and HSC are signed 32-bit data types;
3002
3003 ▪T, C, D, R and SD are signed 16-bit data types;
3004 Variable type used
3005
3006 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3007 |(% rowspan="17" %)(((
3008 MC_MOVELINEARABSOLUTE
3009 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3010 |Position|LREAL array|No|-|Position
3011 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3012 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3013 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3014 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3015 |CoordSystem|WORD|Yes|0|Coordinate system
3016 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3017 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3018 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3019 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3020 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3021 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3022 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3023 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3024 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3025 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3026
3027 Features
3028
3029 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3030
3031 (% class="box infomessage" %)
3032 (((
3033 ✎Note:
3034
3035 ▪The axis group can be moved only when being enabled;
3036
3037 ▪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.
3038
3039 ▪Linear motion is allowed to be interrupted;
3040
3041 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3042 )))
3043
3044 Error code
3045
3046 |=**Error code**|=**Content**
3047 |4084H|Input data beyond the specifiable range
3048
3049 (% style="text-align:center" %)
3050 [[image:1709004126151-658.png||_mstalt="294008"]]
3051
3052 === **MC_MOVELINEARRELATIVE** ===
3053
3054 ----
3055
3056 MC_MOVELINEARRELATIVE
3057
3058 (% style="text-align:center" %)
3059 [[image:1709004271451-886.png||_mstalt="295594"]]
3060
3061
3062 This function block is relative position linear interpolation.
3063
3064 Device used (Only a single device can be used, and device splicing and index are not supported)
3065
3066 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3067 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|(% colspan="2" %)**[D]**|(% colspan="2" %)**XXP**
3068 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3069 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3070 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3071 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3072 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3078 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3079 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3080 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3081 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3082 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3083 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3084 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3085
3086 Precautions for use of devices
3087
3088 ▪LC and HSC are signed 32-bit data types;
3089
3090 ▪T, C, D, R and SD are signed 16-bit data types.
3091
3092 Variable type used
3093
3094 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3095 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3096 |Distance|LREAL array|No|-|Position
3097 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3098 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3099 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3100 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3101 |CoordSystem|WORD|Yes|-|Coordinate system
3102 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3103 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3104 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3105 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3106 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3107 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3108 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3109 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3110 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3111 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3112
3113 Features
3114
3115 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3116
3117 (% class="box infomessage" %)
3118 (((
3119 ✎Note:▪The axis group can be moved only when being enabled;
3120
3121 ▪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.
3122
3123 ▪Linear motion is allowed to be interrupted;
3124
3125 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3126 )))
3127
3128 Error code
3129
3130 |=**Error code**|=**Content**
3131 |4084H|Input data beyond the specifiable range
3132
3133 (% style="text-align:center" %)
3134 [[image:1709004561796-657.png||_mstalt="297674"]]
3135
3136 === **MC_MOVECIRCULARABSOLUTE** ===
3137
3138 ----
3139
3140 MC_MOVECIRCULARABSOLUTE
3141
3142 (% style="text-align:center" %)
3143 [[image:1709004628989-926.png||_mstalt="299143"]]
3144
3145 The function block is absolute position circular interpolation.
3146
3147 Device used (Only a single device can be used, and device splicing and index are not supported)
3148
3149 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3150 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3151 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3152 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3153 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3154 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3155 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3156 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3157 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3158 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3159 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3160 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3161 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3162 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3163 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3164 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3165 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3166 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3167 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3168 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3169 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3170 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3171
3172 Precautions for use of devices
3173
3174 ▪LC and HSC are signed 32-bit data types;
3175
3176 ▪T, C, D, R and SD are signed 16-bit data types;
3177 Variable type used
3178
3179 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3180 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3181 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3182 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3183 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3184 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3185 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3186 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3187 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3188 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3189 |CoordSystem|WORD|Yes|0|Coordinate system
3190 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3191 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3192 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3193 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3194 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3195 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3196 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3197 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3198 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3199 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3200
3201 Features
3202
3203 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3204
3205 (% class="box infomessage" %)
3206 (((
3207 ✎Note**:**
3208
3209 ▪The axis group can be moved only when being enabled;
3210
3211 ▪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.
3212
3213 ▪Linear motion is allowed to be interrupted;
3214
3215 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3216 )))
3217
3218 Error code
3219
3220 |=**Error code**|=**Content**
3221 |4084H|Input data beyond the specifiable range
3222
3223 (% style="text-align:center" %)
3224 [[image:1709005028485-788.png||_mstalt="297895"]]
3225
3226 === **MC_MOVECIRCULARRELATIVE** ===
3227
3228 ----
3229
3230 MC_MOVECIRCULARRELATIVE
3231
3232 (% style="text-align:center" %)
3233 [[image:1709005280026-492.png||_mstalt="293397"]]
3234
3235 Device used (Only a single device can be used, and device splicing and index are not supported)
3236
3237 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3238 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3239 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3240 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3241 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3242 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3243 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3244 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3245 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3246 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3247 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3248 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3249 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3250 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3251 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3252 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3253 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3254 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3255 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3256 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3257 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3258 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3259
3260 Precautions for use of devices
3261
3262 ▪LC and HSC are signed 32-bit data types;
3263
3264 ▪T, C, D, R and SD are signed 16-bit data types;
3265
3266 Variable type used
3267
3268 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3269 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3270 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3271 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3272 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3273 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3274 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3275 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3276 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3277 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3278 |CoordSystem|WORD|Yes|-|Coordinate system
3279 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3280 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3281 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3282 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3283 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3284 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3285 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3286 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3287 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3288 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3289
3290 Features
3291
3292 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3293
3294 (% class="box infomessage" %)
3295 (((
3296 ✎Note:
3297
3298 ▪The axis group can be moved only when being enabled;
3299
3300 ▪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.
3301
3302 ▪Linear motion is allowed to be interrupted;
3303
3304 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3305 )))
3306
3307 Error code
3308
3309 |=**Error code**|=**Content**
3310 |4084H|Input data beyond the specifiable range
3311
3312 (% style="text-align:center" %)
3313 [[image:1709005752944-678.png||_mstalt="297869"]]
3314
3315 === **MC_MOVEDIRECTABSOLUTE** ===
3316
3317 ----
3318
3319 MC_MOVEDIRECTABSOLUTE
3320
3321 (% style="text-align:center" %)
3322 [[image:1709012205292-858.png||_mstalt="295360"]]
3323
3324 This function block is the fast positioning of absolute position.
3325
3326 Device used (Only a single device can be used, and device splicing and index are not supported)
3327
3328 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3329 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3330 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3331 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3332 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3333 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3334 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3335 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3336 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3337 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3338 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3339 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3340 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3341 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3342 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3343
3344 Precautions for use of devices
3345
3346 ▪LC and HSC are signed 32-bit data types;
3347
3348 ▪T, C, D, R and SD are signed 16-bit data types;
3349
3350 Variable type used
3351
3352 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3353 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3354 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3355 |CoordSystem|WORD|Yes|0|Coordinate system
3356 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3357 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3358 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3359 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3360 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3361 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3362 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3363 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3364 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3365 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3366
3367 Features
3368
3369 ▪ 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;
3370
3371 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3372
3373 (% class="box infomessage" %)
3374 (((
3375 ✎Note:
3376
3377 ▪The axis group can be moved only when being enabled;
3378
3379 ▪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.
3380
3381 ▪Linear motion is allowed to be interrupted;
3382
3383 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3384
3385 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3386 )))
3387
3388 Error code
3389
3390 |=**Error code**|=**Content**
3391 |4084H|Data beyond the specifiable range was input.
3392
3393 (% style="text-align:center" %)
3394 [[image:1709012383461-841.png||_mstalt="293800"]]
3395
3396 === **MC_MOVEDIRECTRELATIVE** ===
3397
3398 ----
3399
3400 MC_MOVEDIRECTRELATIVE
3401
3402 (% style="text-align:center" %)
3403 [[image:1709012442595-305.png||_mstalt="293592"]]
3404
3405 The function block executes the fast positioning of the relative position.
3406
3407 Device used (Only a single device can be used, and device splicing and index are not supported)
3408
3409 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3410 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3411 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3412 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3413 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3414 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3415 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3416 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3417 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3418 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3419 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3420 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3421 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3422 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3423 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3424
3425 Precautions for use of devices
3426
3427 ▪LC and HSC are signed 32-bit data types;
3428
3429 ▪T, C, D, R and SD are signed 16-bit data types;
3430
3431 Variable type used
3432
3433 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3434 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3435 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3436 |CoordSystem|WORD|Yes|0|Coordinate system
3437 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3438 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3439 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3440 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3441 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3442 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3443 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3444 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3445 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3446 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3447
3448 Features
3449
3450 ▪ 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;
3451
3452 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3453
3454 (% class="box infomessage" %)
3455 (((
3456 ✎Note:
3457
3458 ▪The axis group can be moved only when being enabled;
3459
3460 ▪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.
3461
3462 ▪Linear motion is allowed to be interrupted;
3463
3464 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3465
3466 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3467 )))
3468
3469 Error code
3470
3471 |=**Error code**|=**Content**
3472 |4084H|Input data beyond the specifiable range
3473
3474 (% style="text-align:center" %)
3475 [[image:1709012732094-708.png||_mstalt="294580"]]
3476
3477 == **Other special FB** ==
3478
3479 ----
3480
3481 === **MC_MOVEJOG** ===
3482
3483 ----
3484
3485 MC_MOVEJOG
3486
3487 (% style="text-align:center" %)
3488 [[image:1709014222028-861.png||_mstalt="293059"]]
3489
3490 The function block makes the controlled axis execute micro motion at the set target velocity.
3491
3492 Device used (Only a single device can be used, and device splicing and index are not supported)
3493
3494 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3495 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3496 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3497 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3498 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3499 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3500 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3501 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3502 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3503 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3504 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3505 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3506
3507 Precautions for use of devices
3508
3509 ▪LC and HSC are signed 32-bit data types;
3510
3511 ▪T, C, D, R and SD are signed 16-bit data types;
3512
3513 Variable type used
3514
3515 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3516 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3517 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3518 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3519 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3520 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3521 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3522 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3523 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3524 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3525 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3526
3527 Features
3528
3529 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3530
3531 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3532
3533 ▪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.
3534
3535 (% class="box infomessage" %)
3536 (((
3537 ✎Note:
3538
3539 ▪This function is not available when the axis does not exist.
3540
3541 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3542 )))
3543
3544 Error code
3545
3546 |=**Error code**|=**Content**
3547 |4084H|Input data beyond the specifiable range
3548
3549 (% style="text-align:center" %)
3550 [[image:1709014420505-664.png||_mstalt="293254"]]
3551
3552 === **MC_COMBINEAXES** ===
3553
3554 ----
3555
3556 MC_COMBINEAXES
3557
3558 (% style="text-align:center" %)
3559 [[image:1709014499579-362.png||_mstalt="297700"]]
3560
3561 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3562
3563 Device used (Only a single device can be used, and device splicing and index are not supported)
3564
3565 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3566 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3567 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3568 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3569 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3570 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3571 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3572 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3573 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3574 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3575 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3576 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3577 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3578 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3579 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3580 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3581
3582 Precautions for use of devices
3583
3584 ▪LC and HSC are signed 32-bit data types;
3585
3586 ▪T, C, D, R and SD are signed 16-bit data types;
3587
3588 Variable type used
3589
3590 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3591 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3592 |ConbineMode|WORD|Yes|[0 to 1]|(((
3593 Addition and subtraction operation selection
3594
3595 0: Addition
3596
3597 1: Subtraction
3598 )))
3599 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3600 Master axis position type
3601
3602 1: Feedback position
3603
3604 2: Instruction position
3605 )))
3606 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3607 Auxiliary axis position type
3608
3609 1: Feedback position
3610
3611 2: Instruction position
3612 )))
3613 |BufferMode|LREAL|No|0|Mode selection
3614 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3615 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3616 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3617 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3618 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3619 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3620 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3621 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3622 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3623
3624 Features
3625
3626 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3627
3628 (% class="box infomessage" %)
3629 (((
3630 ✎Note:
3631
3632 ▪Unable to restart this instruction;
3633
3634 ▪To end this instruction, MC_construction is needed;
3635
3636 ▪This instruction does not execute in-place inspection;
3637
3638 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3639
3640 ▪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;
3641
3642 ▪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.
3643 )))
3644
3645 Error code
3646
3647 |=**Error code**|=**Content**
3648 |7000OA|Axis is in a bound status.
3649 |7000OB|Axis cannot be bound at run time.
3650 |800014|The master axis is consistent with the slave axis.
3651 |800015|The master axis is consistent with the auxiliary axis.
3652 |800016|The auxiliary axis is consistent with the slave axis.
3653 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3654
3655 (% style="text-align:center" %)
3656 [[image:1709014704454-580.png||_mstalt="294047"]]
3657
3658
3659 === **MC_MOVEVELOCITY** ===
3660
3661 ----
3662
3663 MC_MOVEVELOCITY
3664
3665 (% style="text-align:center" %)
3666 [[image:1709014790717-456.png||_mstalt="296101"]]
3667
3668 Device used (Only a single device can be used, and device splicing and index are not supported)
3669
3670 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3671 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3672 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3673 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3674 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3675 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3676 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3677 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3678 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3679 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3680 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3681 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3682 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3683 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3684 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3685 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3686 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3687
3688 Precautions for use of devices
3689
3690 ▪LC and HSC are signed 32-bit data types;
3691
3692 ▪T, C, D, R and SD are signed 16-bit data types;
3693
3694 Variable type used
3695
3696 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3697 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3698 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3699 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3700 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3701 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3702 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3703 |Direction|WORD|No|[1]|(((
3704 Direction flag
3705
3706 1: Positive direction
3707
3708 2: Negative direction
3709
3710 3: Current direction
3711
3712 4: Shortest path
3713 )))
3714 |BufferMode|WORD|Yes|[0]|Buffer mode
3715 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3716 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3717 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3718 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3719 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3720 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3721 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3722
3723 Features
3724
3725 ▪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.
3726
3727 ▪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;
3728
3729 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3730
3731 ▪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.
3732
3733 ▪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.
3734
3735 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3736
3737 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3738
3739 Error code
3740
3741 |=**Error code**|=**Content**
3742 |4084H|Input data beyond the specifiable range
3743
3744 === **MC _ MOVEVELOCITY _ CSV** ===
3745
3746 MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3747
3748 [[image:1761032781939-478.png]]
3749
3750 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.
3751
3752 **Device used (only a single device can be used, device splicing and index are not supported)**
3753
3754 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3755 **Index**
3756
3757 **Modification**
3758 )))|(((
3759 **Pulse**
3760
3761 **Expansion**
3762 )))
3763 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3764 |(% rowspan="15" %)(((
3765 MC _ MOVEVELOCITY
3766
3767 _ CSV
3768 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3769 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3770 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3771 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3772 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3773 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3774 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3775 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3776 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3777 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3778 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3779 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3780 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3781 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3782 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3783
3784 **Notes:**
3785
3786 * LC and HSC are signed 32-bit data types;
3787 * T, C, D, R and SD are signed 16-bit data types.
3788
3789 **Variable type used**
3790
3791 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3792 |(% rowspan="15" %)(((
3793 MC _ MOVE
3794
3795 VELOCITY _ CSV
3796 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3797 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3798 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3799 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3800 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3801 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3802 |Direction|WORD|No|[1,4]|(((
3803 Direction flag bit (Only rotation mode takes effect）。
3804
3805 ~1. Positive direction;
3806
3807 2. Negative direction;
3808
3809 3. The current direction;
3810
3811 4. The shortest path (reserved).
3812 )))
3813 |BufferMode|WORD|Yes|[0]|BufferMode
3814 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3815 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3816 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3817 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3818 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3819 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3820 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3821
3822 **Function**
3823
3824 * 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.
3825 * 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;
3826 * 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;
3827 * 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;
3828 * The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3829
3830 **Error code**
3831
3832 |**Error code**|**Content**
3833 |4084H|Input data beyond the specifiable range
3834
3835 **Precautions**
3836
3837 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3838 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3839
3840 **Timing diagram**
3841
3842
3843 (% style="text-align:center" %)
3844 [[image:1761032845559-339.png||height="306" width="520"]]
3845
3846 === **MC _ SYNCMOVEVELOCITY** ===
3847
3848 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3849
3850 [[image:1761032974104-584.png]]
3851
3852 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.
3853
3854 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3855
3856 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3857 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3858 |(% rowspan="8" %)(((
3859 MC _ SYNCMOVE
3860
3861 VELOCITY
3862 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3863 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3864 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3865 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3866 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3867 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3868 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3869 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3870
3871 **Notes for using devices**
3872
3873 * LC and HSC are signed 32-bit data types;
3874 * T, C, D, R and SD are signed 16-bit data types.
3875
3876 **Variable type used**
3877
3878 |**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3879 |(% rowspan="8" %)(((
3880 MC _ SYNCMOVE
3881
3882 VELOCITY
3883 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3884 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3885 |Axis|(((
3886 WORD
3887
3888
3889 )))|No|[0,65535]|Axis number and built-in variable of axis
3890 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3891 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3892 |CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3893 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3894 |ErrorID|DWORD|Yes|-|(((
3895 Error code (Please refer to
3896
3897 [[8.11 Error Code>>path:#错误码对照表]]
3898 )))
3899
3900 **Function**
3901
3902 * 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.
3903 * 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;
3904 * 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;
3905 * 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;
3906 * The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3907
3908 **✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3909
3910
3911 **Error code**
3912
3913 |**Error code**|**Content**
3914 |4084H|Input data beyond the specifiable range
3915
3916 **Timing diagram**
3917
3918 (% style="text-align:center" %)
3919 [[image:1761033004563-270.png]]
3920
3921 === **MC _ SETTORQUE** ===
3922
3923 MC _ SETTORQUE-Synchronous torque instruction
3924
3925 [[image:1761033083623-162.png]]
3926
3927 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3928
3929 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3930 **Index**
3931
3932 **Modification**
3933 )))|(((
3934 **Pulse**
3935
3936 **Expansion**
3937 )))
3938 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3939 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3940 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3941 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3942 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3943 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3944 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3945 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3946 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3947 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3948 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3949 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3950
3951 **Notes for using devices**
3952
3953 * LC and HSC are signed 32-bit data types;
3954 * T, C, D, R and SD are signed 16-bit data types.
3955
3956 **Variable type used**
3957
3958 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3959 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3960 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3961 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3962 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3963 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3964 |Axis|WORD|No|[0,65535]|Axis number
3965 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3966 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3967 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3968 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3969 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3970 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3971
3972 **Function**
3973
3974 * 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.
3975 * The following PDOs need to be configured in CST mode;
3976
3977 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3978
3979 0x1A00: 0x6061, 0x6077, 0x6041
3980
3981 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3982 * 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;
3983 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3984 * 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;
3985
3986 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.
3987
3988 **Note**
3989
3990 * This function block is not available when the axis does not exist.
3991
3992 === **MC _ TORQUECONTROL** ===
3993
3994 MC _ TORQUECONTROL-Torque control command
3995
3996 [[image:1761033167971-496.png||height="206" width="262"]]
3997
3998 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3999
4000 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4001 **Index**
4002
4003 **Modification**
4004 )))|(((
4005 **Pulse**
4006
4007 **Expansion**
4008 )))
4009 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4010 |(% rowspan="13" %)(((
4011 MC _ TORQUE
4012
4013 CONTROL
4014 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4015 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4016 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4017 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4018 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4019 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4020 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4021 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4022 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4023 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4024 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4025 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4026 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4027
4028 **Notes for using devices**
4029
4030 * LC and HSC are signed 32-bit data types;
4031 * T, C, D, R and SD are signed 16-bit data types.
4032
4033 **Variable type used**
4034
4035 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4036 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4037 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4038 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4039 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4040 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4041 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4042 |Axis|WORD|No|[0,65535]|Axis number
4043 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4044 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4045 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4046 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4047 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4048 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4049
4050 **Function**
4051
4052 * 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.
4053 * The following PDOs need to be configured in CST mode:
4054
4055 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4056
4057 0x1A00: 0x6061, 0x6077, 0x6041
4058
4059 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4060
4061 **Function description**
4062
4063 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4064 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4065 * 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;
4066
4067 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;
4068
4069 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;
4070
4071 * Speed control in torque mode
4072
4073 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;
4074
4075 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;
4076
4077 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;
4078
4079 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4080
4081 The maximum speed of the servomotor can be limited by 0x607F;
4082
4083 0x607F can be configured into the PDO;
4084
4085 The unit of 0x607F is pulse unit, non-speed unit.
4086
4087 * Stop control on torque mode
4088
4089 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.
4090
4091 * Interrupt
4092
4093 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;
4094
4095 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4096
4097 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4098
4099 **Timing diagram**
4100
4101 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4102
4103 (% style="text-align:center" %)
4104 [[image:1761033264625-188.png]]
4105
4106
4107 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4108
4109 (% style="text-align:center" %)
4110 [[image:1761033334729-116.png]]
4111
4112 === **MC _ MOVEABSRELPP** ===
4113
4114 MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4115
4116 [[image:1761034254689-443.png]]
4117
4118 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4119
4120 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4121 **Pulse**
4122
4123 **Expansion**
4124 )))
4125 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4126 |(% rowspan="13" %)(((
4127 MC _ MOVEA
4128
4129 BSRELPP
4130 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4131 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4132 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4133 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4134 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4135 |Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4137 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4138 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4139 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4140 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4141 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4142 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4143
4144 **Notes for using devices**
4145
4146 * LC and HSC are signed 32-bit data types;
4147 * T, C, D, R and SD are signed 16-bit data types.
4148
4149 **Variable type used**
4150
4151 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4152 |(% rowspan="13" %)(((
4153 MC _ MOVE
4154
4155 ABSRELPP
4156 )))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4157 |Mode|INT|No|0,1|(((
4158 1: Absolute mode.
4159
4160 1: Relative mode
4161 )))
4162 |Position|LREAL|No|(((
4163 -999999999.999999
4164
4165 999999999.999999
4166 )))|Target location
4167 |Velocity|LREAL|No|（0,999999999.999999]|Velocity
4168 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4169 |Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4170 |Axis|WORD|No|[0,65535]|Axis number
4171 |(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4172 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4173 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4174 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4175 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4176 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4177
4178 **Function**
4179
4180 * 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.
4181 * Contour Position Mode requires the following PDOs:
4182
4183 0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4184
4185 0x1A00: 0x6061, 0x6064, 0x6041
4186
4187 **Function description**
4188
4189 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4190 * 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;
4191 * 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;
4192 * When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4193 * Interrupt
4194
4195 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;
4196
4197 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.
4198
4199 **Timing diagram**
4200
4201
4202 (% style="text-align:center" %)
4203 [[image:1761034304535-743.png]]
4204
4205 === **MC _ MOVEVELOCITYPV** ===
4206
4207 MC _ MOVEVELOCITYPV-Contour Speed Command
4208
4209 [[image:1761034415972-645.png]]
4210
4211 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4212
4213 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4214 **Index**
4215
4216 **Modification**
4217 )))|(((
4218 **Pulse**
4219
4220 **Expansion**
4221 )))
4222 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4223 |(% rowspan="11" %)(((
4224 MC _ MOVEVELO
4225
4226 CITYPV
4227 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4228 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4229 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4230 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4231 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4232 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4234 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4235 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4236 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4237 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4238
4239 **Notes for using devices**
4240
4241 * LC and HSC are signed 32-bit data types;
4242 * T, C, D, R and SD are signed 16-bit data types.
4243
4244 **Variable type used**
4245
4246 |**Instruction**|(((
4247 **Pin**
4248
4249 **type**
4250 )))|**Parameter**|(((
4251 **Variable**
4252
4253 **Type**
4254 )))|(((
4255 **Can you**
4256
4257 **Is empty**
4258 )))|**Range**|**Description**
4259 |(% rowspan="11" %)(((
4260 MC _ MOVEVE
4261
4262 LOCITYPV
4263 )))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4264 |Velocity|LREAL|No|(((
4265 -999999999.999999
4266
4267 999999999.999999
4268 )))|Velocity
4269 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4270 |Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4271 |Axis|WORD|No|[0,65535]|Axis number
4272 |(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4273 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4274 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4275 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4276 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4277 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4278
4279 **Function**
4280
4281 * 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;
4282 * This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4283 * The following PDOs are required for the profile speed mode:
4284
4285 0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4286
4287 0x1A00: 0x6061, 0x606c, 0x6041
4288
4289 **Function description**
4290
4291 * This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4292 * 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.
4293
4294 **Timing diagram**
4295
4296
4297 (% style="text-align:center" %)
4298 [[image:1761034458765-139.png]]
4299
4300 === **MC _ TORQUECONTROLPT** ===
4301
4302 MC _ TORQUECONTROLPT-Contour torque control command
4303
4304 [[image:1761034544967-630.png]]
4305
4306 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4307
4308 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4309 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4310 |(% rowspan="11" %)(((
4311 MC _ TORQUE
4312
4313 CONTROLPT
4314 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4315 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4316 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4317 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4318 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4319 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4321 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4322 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4323 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4324 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4325
4326 **Notes for using devices**
4327
4328 * LC and HSC are signed 32-bit data types;
4329 * T, C, D, R and SD are signed 16-bit data types.
4330
4331 **Variable type used**
4332
4333 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4334 |(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4335 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4336 |TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4337 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4338 |Axis|WORD|No|[0,65535]|Axis number
4339 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4340 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4341 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4342 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4343 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4344 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4345
4346 **Function**
4347
4348 * 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;
4349 * 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;
4350 * Profile torque mode needs to be configured with the following PDOs:
4351
4352 0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4353
4354 0x1A00: 0x6061, 0x6077, 0x6041
4355
4356 **Function description**
4357
4358 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4359 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4360 * 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;
4361
4362 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;
4363
4364 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.
4365
4366 * Speed control in torque mode
4367
4368 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;
4369
4370 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;
4371
4372 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;
4373
4374 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4375
4376 The maximum speed of the servomotor can be limited by 0x607F;
4377
4378 0x607F can be configured into the PDO;
4379
4380 The unit of 0x607F is pulse unit, non-speed unit.
4381
4382 * Stop control on torque mode
4383
4384 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.
4385
4386 * Interrupt
4387
4388 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;
4389
4390 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4391
4392 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4393
4394 **Timing diagram**
4395
4396 (% style="text-align:center" %)
4397 [[image:1761034615747-763.png]]
4398
4399 == **SDO instruction** ==
4400
4401 ----
4402
4403 === **MC_READSDO reads SDO data** ===
4404
4405 ----
4406
4407 MC_READSDO
4408
4409 This instruction is used to read the value of the servo object dictionary.
4410
4411 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4412
4413 Content, range and data type
4414
4415 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4416 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4417 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4418 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4419 |(D1)|The read device|-|Define the size according to S3.|-
4420 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4421
4422 Device used
4423
4424 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4425 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|(% colspan="2" %)**R**|**SD**|**LC**|**HSC**|**K**|**H**|(% colspan="2" %)**E**|**[D]**|**XXP**
4426 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4427 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4428 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4429 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4430 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4431
4432 Features
4433
4434 ▪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).
4435
4436 (% class="box infomessage" %)
4437 (((
4438 ✎Note:
4439
4440 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4441 )))
4442
4443
4444 === **MC_WRITESD0 writes SDO data** ===
4445
4446 ----
4447
4448 MC_WRITESDO
4449
4450 This instruction is used to write the value of the servo object dictionary.
4451
4452 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4453
4454 Content, range and data type
4455
4456 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4457 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4458 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4459 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4460 |(S4)|The value to be written|-|Define the size according to S3.|-
4461 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4462
4463 Device used
4464
4465 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4466 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4467 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4468 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4469 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4470 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4471 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4472
4473 Features
4474
4475 ▪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).
4476
4477 (% class="box infomessage" %)
4478 (((
4479 ✎Note:
4480
4481 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4482 )))
4483
4484 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4485
4486 == **Built-in variables of pulse axis system** ==
4487
4488 The current state of the axis can be monitored in the program by its system variables.
4489
4490
4491 |**Name**|**Data type**|**Function**
4492 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4493 |wAxisID|WORD|Axis number (Read only)
4494 |wVersion|WORD|Version number (Read only)
4495 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4496 |nEtherCATNo|DINT|EtherCAT axis number
4497 |nLocalID|DINT|(((
4498 Local axis ID.
4499
4500 Y0/Y1 is 0;
4501
4502 Y2/Y3 is 1;
4503
4504 Y4/Y5 is 2;
4505
4506 Y6/Y7 is 3.
4507 )))
4508 |bVirtualAxis|BOOL|Virtual axis or not
4509 |Cmd|AXIS_INFO_CMD_T| Setting value
4510 |fSetPosition|LREAL|Setting position (Read only)
4511 |fSetVelocity|LREAL|Setting speed (Read only)
4512 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4513 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4514 |fSetJerk|LREAL|Setting jerk (Read only)
4515 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4516 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4517 |Act|AXIS_INFO_ACT_T|Current value
4518 |fActPosition|LREAL|Current position (Read only)
4519 |fActVelocity|LREAL|Current speed (Read only)
4520 |fActAcceleration|LREAL|Actual acceleration (Read only)
4521 |fActDeceleration|LREAL|Actual deceleration (Read only)
4522 |fActJerk|LREAL|Actual jerk (Read only)
4523 |fActTorque|LREAL|(((
4524 Current torque (Read only)
4525
4526 Reserved
4527 )))
4528 |fFollowPos|LREAL|Following error (Read only)
4529 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4530 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4531 |Status|AXIS_INFO_STATUS_T|Axis status
4532 |wAxisState|WORD|Axis status (Read only)
4533
4534 |**Name**|**Data type**|**Function**
4535 |wAxisError|DWORD|Axis error code (Read only)
4536 |wMotionState|WORD|Motion status (Read only)
4537 |bPowerState|BOOL|Axis enabled status (Read only)
4538 |bphLimit|BOOL|Hardware positive limit (Read only)
4539 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4540 |bHomeState|BOOL|Homing limit (Read only)
4541 |bPsLimit|BOOL|Software positive limit (Read only)
4542 |bnsLimit|BOOL|Software reverse limit (Read only)
4543 |bTarDir|BOOL|Direction of motion (Read only)
4544 |Dbg|AXIS_DEBUG_T|Axis debugging information
4545 |bAxisDebug|BOOL|Axis debugging switch
4546 |bPower|BOOL|Axis enable
4547 |bStop|BOOL|Axis stop
4548 |bReset|BOOL|Axis reset
4549 |bJogP|BOOL|JOG+
4550 |bJopN|BOOL|JOG-
4551 |bHome|BOOL|Homing
4552 |bSetPos|BOOL|Set the current position
4553 |bAbsPos|BOOL|Absolute positioning
4554 |bRevPos|BOOL|Reciprocating motion:
4555 |bRelPos|BOOL|Relative positioning
4556 |bVelocity|BOOL|Continuous motion
4557 |bTorque|BOOL|(((
4558 Torque Mode
4559
4560 Reserved
4561 )))
4562 |fPresetPosition|LREAL|Preset position
4563 |fJogVelocity|LREAL|JOG speed
4564 |fPositionOffser|LREAL|Homing mode offset
4565 |fTarPosition|LREAL|Target position
4566 |fTarVelocity|LREAL|Target velocity
4567 |fTarAcceleration|LREAL|Target acceleration
4568 |fTarDeceleration|LREAL|Target deceleration
4569 |fTarJerk|LREAL|Target jerk
4570 |fTarPosition2|LREAL|Target position 2
4571
4572 |**Name**|**Data type**|**Function**
4573 |fTarVelocity2|LREAL|Target speed 2
4574 |fTarAcceleration2|LREAL|Target jerk 2
4575 |fTarDeceleration2|LREAL|Target deceleration 2
4576 |fTarJerk2|LREAL|Target jerk 2
4577 |fTarTorque|LREAL|(((
4578 Target torque
4579
4580 Reserved
4581 )))
4582 |fTarTorqueSlop|LREAL|(((
4583 Torque ramp
4584
4585 Reserved
4586 )))
4587 |fLimitVelocity|LREAL|(((
4588 Limit the speed.
4589
4590 Reserved
4591 )))
4592 |Pdo|AXIS_INFO_PDO_T|PDO information
4593 |wControlWord|WORD|Control word
4594 |wStatusWord|WORD|Status word
4595 |nSetPosition|DINT|Setting position
4596 |nActPosition|DINT|Current position
4597 |nSetVelocity|DINT|Setting speed
4598 |nActVelocity|DINT|Current speed
4599 |nSetTorque|DINT|(((
4600 Setting torque (Read only)
4601
4602 Reserved
4603 )))
4604 |nActTorque|DINT|(((
4605 Current torque
4606
4607 Reserved
4608 )))
4609 |nDO|DINT|(((
4610 Digital output
4611
4612 Reserved
4613 )))
4614 |nDI|DINT|(((
4615 Digital input
4616
4617 Reserved
4618 )))
4619 |wModesOfPperation|WORD|Control mode
4620 |wModesOfPperationDisplay|WORD|Current control mode
4621 |wTouchFunction|WORD|Touch probe function settings
4622 |wTouchStaus|WORD|Probe touch status
4623 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4624 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4625 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4626 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4627 |nMaxVelocity|DINT|(((
4628 Maximum velocity
4629
4630 Reserved
4631 )))
4632 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4633 |nEncoderMode|BYTE|Encoder model.
4634
4635 |**Name**|**Data type**|**Function**
4636 | | |(((
4637 0: Incremental mode
4638
4639 1: Absolute mode.
4640 )))
4641 |nModeSet|BYTE|(((
4642 Mode settings.
4643
4644 0: Linear mode
4645
4646 1: Rotation mode.
4647 )))
4648 |dRotatePeriod|LREAL|Rotation cycle
4649 |nSpeedADType|BYTE|(((
4650 Speed acceleration and deceleration type.
4651
4652 0: Default mode;
4653
4654 1: T-curve;
4655
4656 2: S-curve.
4657 )))
4658 |bEnSwLimit|BOOL|Whether to enable software limit
4659 |dSwPLimit|LREAL|Positive limit unit
4660 |dSwNLimit|LREAL|Reverse limit unit
4661 |dFollowThreShold|LREAL|Following error threshold Unit
4662 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4663 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4664 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4665 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4666 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4667 |bNoInErrorStop|BOOL|(((
4668 Don’t enter ErrorStop after hitting the limit
4669
4670 status.
4671
4672 Reserved
4673 )))
4674 |bHdPLimit|BOOL|(((
4675 Hardware positive limit
4676
4677 0: Positive logic;
4678
4679 1: Negative logic;
4680
4681 Reserved: Not in use yet.
4682 )))
4683 |bHdNLimit|BOOL|(((
4684 Hardware reverse limit (Read-only)
4685
4686 0: Positive logic;
4687
4688 1: Negative logic;
4689
4690 Reserved: Not in use yet.
4691 )))
4692 |bEnProbe1|BOOL|(((
4693 Touch probe 1 enable
4694
4695 Reserved
4696 )))
4697 |bEnProbe2|BOOL|(((
4698 Touch probe 2 enable
4699
4700 Reserved
4701 )))
4702 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4703 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4704 |nOutputWay|DWORD|(((
4705 Output mode
4706
4707 0: Pulse+Direction; 1: CW/CCW.
4708 )))
4709 |nCounterMode|DWORD|(((
4710 Counting mode
4711
4712 0: A/B phase 1 times frequency;
4713 )))
4714
4715 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4716 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4717 1: A/B phase 2 times frequency;
4718
4719 2: A/B phase 4 times frequency;
4720
4721 3: CW/CCW;
4722
4723 4: Pulse+Direction;
4724
4725 5: Single phase count.
4726 )))
4727 |(% style="width:187px" %)(((
4728
4729
4730
4731 nSignalSource
4732 )))|(% style="width:215px" %)(((
4733
4734
4735
4736 DWORD
4737 )))|(% style="width:361px" %)(((
4738 Signal source
4739
4740 0: X0-Phase A;
4741
4742 1: X1-Phase B;
4743
4744 2: X2-Phase A;
4745
4746 3: X3-Phase B.
4747 )))
4748 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4749 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4750 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4751 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4752 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4753 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4754 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4755 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4756 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4757 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4758 Homing signal
4759
4760 0: Not assigned;
4761
4762 1: Not used;
4763
4764 2: In use.
4765 )))
4766 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4767 Z signal.
4768
4769 0: Not assigned;
4770
4771 1: Not used;
4772
4773 2: In use.
4774 )))
4775 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4776 Positive limit
4777
4778 0: Not assigned;
4779
4780 1: Not used;
4781
4782 2: In use.
4783 )))
4784 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4785 Negative limit
4786
4787 0: Not assigned;
4788
4789 1: Not used;
4790
4791 2: In use.
4792 )))
4793 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4794 Homing direction:
4795
4796 0: Not assigned;
4797
4798 1: Forward;
4799
4800 2: Reverse
4801 )))
4802 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4803 Enter the detection direction.
4804
4805 0: Not assigned;
4806 )))
4807
4808 |**Name**|**Data type**|**Function**
4809 | | |(((
4810 0: Positive
4811
4812 2: Reverse
4813 )))
4814 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4815 |(((
4816
4817
4818 nReturnZero
4819 )))|(((
4820
4821
4822 BYTE
4823 )))|(((
4824 Homing mode
4825
4826 0: Absolute homing 1: Relative homing.
4827 )))
4828 |dReturnSpeed|LREAL|Homing speed Unit/s
4829 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4830 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4831 |nReturnTimeOut|DINT|Homing overtime time ms
4832 |bEnPLimit|BOOL|Positive limit enables
4833 |bEnNLimit|BOOL|Negative limit enable
4834 |bEnSignalLimit|BOOL|Homing signal enable
4835 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4836 Positive limit address X0~~X1023.
4837
4838 (The local pulse axis currently only supports hardware limit X0-X7)
4839 )))
4840 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4841 Reverse limit address X0~~X1023.
4842
4843 (The local pulse axis currently only supports hardware limit X0-X7)
4844 )))
4845 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4846 Homing signal address X0 to X1023
4847
4848 (The local pulse axis currently only supports hardware limit X0-X7)
4849 )))
4850 |nPLimitLogic|BOOL|(((
4851 Forward limit logic
4852
4853 0: Forward logic;
4854
4855 1: Reverse logic.
4856 )))
4857 |nNLimitLogic|BOOL|(((
4858 Negative limit logic.
4859
4860 0: Positive logic;
4861
4862 1: Negative logic.
4863 )))
4864 |nSignalLogic|BOOL|(((
4865 Homing signal logic
4866
4867 0: Positive logic;
4868
4869 1: Negative logic.
4870 )))
4871 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4872 |bReverse|BOOL|Reverse or not
4873 |bEnGearBox|BOOL|Enable gearbox
4874 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4875 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4876 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4877 |nGearRatioM|INT|Gear ratio molecule
4878 |nGearRatioD|INT|Gear ratio denominator
4879
4880 == **Others** ==
4881
4882 ----
4883
4884 === **Single axis motion control status diagram** ===
4885
4886 ----
4887
4888 (% style="text-align:center" %)
4889 [[image:1709016272018-406.png||height="669" width="631"]]
4890
4891 === **Axis group motion control status diagram** ===
4892
4893 ----
4894
4895 (% style="text-align:center" %)
4896 [[image:1709016323709-202.png]]
4897
4898
4899 === **Arc mode description** ===
4900
4901 ----
4902
4903 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4904 |(((
4905
4906
4907
4908 Features
4909 )))|(((
4910 The arc path consists of the starting point, auxiliary points, and ending point.
4911 )))|(((
4912
4913
4914 The arc path consists of the starting point, the center point, and theending point.
4915
4916
4917
4918 )))|(((
4919 The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4920
4921 The direction of the vector determines the direction of CW and CCW circles.
4922
4923 The vector length is the radius of the arc.
4924 )))
4925 |(((
4926
4927
4928
4929 Description
4930 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4931 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4932 |(((
4933
4934
4935 Path choice
4936 )))|Invalid|(((
4937 CW and CCW circles
4938
4939 CCW mode
4940
4941 CW mode
4942 )))|(((
4943 Major and minor arcs
4944
4945 1: Minor arc
4946
4947 0: Major arc
4948 )))
4949 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4950 Restriction of angle less than 2π for single instruction
4951
4952 The vector perpendicular to the circular plane must be calculated.
4953 )))
4954
4955 === **Transition mode description** ===
4956
4957 ----
4958
4959 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4960
4961 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4962 |TransitionParameter|Invalid|Invalid|Specified velocity
4963
4964 === **Mode selection instructions** ===
4965
4966 ----
4967
4968 [[image:1709016491129-791.png]]
4969
4970 (% style="width:659px" %)
4971 |=(% style="width: 656px;" %)**Caution**
4972 |(% style="width:656px" %)(((
4973 It should be noted that if the moving function block is interrupted by another function block, the following error will occur: braking distance is insufficient due to the limitation of deceleration;
4974
4975 Note that in all the sequence diagrams explained below, some of the sequence diagrams for the status word feedback are incorrect. For example, in Figure 8-2, the start signal is not automatically set by the system after triggering, but controlled by the user. Function block triggers execution logic when on the rising edge.
4976
4977 Likewise, the Done signal is not set automatically. When the function block ends, Done will be set until the falling edge of Execute is generated!
4978 )))
4979
4980 (1) mcAborting
4981
4982 It is an agreed pattern without buffering. When the status of the application axis is changed to "ErrorStop", all motion control function blocks with buffer mode will enter mcAborting.
4983
4984 At this time, the function block output "Error" in mcAborting is set. Its subsequent commands are rejected because the output Error is set, so Active is reset.
4985
4986 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4987
4988 Figure8-1
4989
4990 (% style="text-align:center" %)
4991 [[image:1709016579583-740.png]]
4992
4993
4994 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4995
4996 The following Figure 8-2 shows the sequence diagrams of function block instances FB1 and FB2. Figure 8-2(a) shows the sequence diagram of two absolute position motion function blocks under normal working conditions, i.e., the motion controlled by FB2 is carried out after the motion controlled by FB1 is completed.
4997
4998 When on the Start_1=TRUE rising edge, the function block instance FB1 is activated. At the same time, the outputs Busy_1 and Active_1 are set. The motion process of the axis is as follows: the velocity increases to 100u/s according to the acceleration of 100u/s2, and keep the axis move at constant velocity. Then the velocity decreases to 0 with deceleration of 100u/s2, thus moving the axis to 1000u.
4999
5000 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
5001
5002 Axis position is 1000u.
5003
5004 Figure8-2 The sequence diagram of normal working condition and mcAborting
5005
5006 (% style="text-align:center" %)
5007 [[image:1709016808830-880.png]]
5008
5009
5010 When on the Start_2=TRUE rising edge, the second function block instance FB2 is activated. The output Busy_2 and Active 2 are set. According to the acceleration of 50u/s2, the axis velocity increases to the constant velocity of 50u/s. Then the axis velocity decreases to 0 at the deceleration of 50u/s. The axis position is from 1000u to 2000u.
5011
5012 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
5013
5014 Figure 8-2(b) shows the sequence diagrams of two absolute position motion function blocks in mcAborting. On the rising edge of start1 = TRUE, the function block instanceFB1is activated.
5015
5016 At the same time, the output Busy_2 and Active_1 are set. The axis motion velocity increases according to the acceleration of 100u/s2. But in this process, the output start 2 of the function block instance FB2 is set, which abort the motion of the previous function block instance FB1. At this time, the axis dose not reach the required position 1000u and is aborted to stop.
5017
5018 As the function block instance FB2 is activated, Busy_2 and Active_2 are set. According to the requirement of the function block instance FB2, the velocity of the axis decreases to the input value of 50u/s2 according to its deceleration of 50u/s2. Keep it move at the constant velocity of 50u/s so that it will finally reach the position 2000u.
5019
5020 It can be seen that the activation of the next function block causes the previous function block to stop its motion, and the aborting command immediately affects the motion of the axis.
5021
5022 This buffer mode is called mcAborting.
5023
5024 (2) mcBuffered
5025
5026 The command of the next function block is stored in the buffer area. The command of the buffer area is executed only after the motion of the previous function block is completed. Therefore, this mode is called mcBuffered.
5027
5028 The BufferMode input for the next function block is set to be buffered mode (mcBuffered). Figure 8-3shows the setting for the connection of two function blocks.
5029
5030 The sequence diagram of mcBuffered is shown in Figure 8-4. In the figure, FB1 is activated when the input start 1=TRUE of the previous function block instance is on the rising edge. When this function block instance FB1 control the axis to move, the start 2 of the next function block instance FB2 is set. Due to the FB2 buffer mode is set to mcBuffered, the activation of FB2 does not abort the control of FB1 to the axis. Although the output Busy_2 of FB2 is set, the function block is not activated, namely, the output Active_2 is still FALSE.
5031
5032 Therefore, FB1 continues to control the motion of the axis until the axis reaches the set position 1000u. Then FB2 is immediately activated to work, and the velocity of the axis is not delayed. Increase the velocity to 50u/s based on the acceleration of 50u/s2 directly and then keep it move at the constant velocity of 50u/s, so that it will finally reach the position of 2000.
5033
5034 Figure8-3 Connections in mcBuffered
5035
5036 (% style="text-align:center" %)
5037 [[image:1709016841335-589.png]]
5038
5039 It can be seen from the figure that the buffer mode of the rear function block is set to mcBuffered, which means that the rear function block cannot interrupt the motion of the previous function block. And once the previous function block completes its task.
5040
5041 and Done_1 is set, the work of the next function block will start immediately.
5042
5043 The mcBuffered indicates that the motion command of the next function block has been stored in the buffer area, which does not affect the control and operation of previous motion control function block over the axis. It can execute subsequent commands after the executed function block outputs Done or Inxxx becomes TRUE.
5044
5045 Figure 8-4
5046
5047 (% style="text-align:center" %)
5048 [[image:1709016882878-958.png]]
5049
5050 mcBlending
5051
5052 There are four options for mcBlending of the previous and next function blocks. The mcBlending represents the blending of the velocity of the previous and next functional blocks. In this case, the previous function block interrupts its motion, and the next function block controls the subsequent motion, but its initial velocity is called blending velocity or mixing velocity.
5053
5054 The mixing velocity can adopt the velocity of two function blocks (whichever is lower or higher) or it can be directly specified that the velocity of the previous function block or the velocity of the next function block is adopted.
5055
5056 Therefore, the mcBlending is divided into four types.
5057
5058 (1) mcBlendingLow.
5059
5060 The blending velocity is the lower of the set velocity of the two function blocks. This mcBlending can be random. If the set velocity of the previous function block is lower than that of the next function block, the blending velocity adopts the velocity of the previous function block.
5061
5062 On the contrary, if the set velocity of the previous function block is higher than that of the next function block, the blending velocity adopts the velocity of the next function block.
5063
5064 When the buffer mode of the next function block is set to be mcBlendingLow, it means that the next function block will not interrupt the work of previous function block if the work of the previous function block is not completed; when the velocity of the previous function block decreases to the lower velocity of the previous and next function blocks, the next function block can continue to control the motion of the axis.
5065
5066 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
5067
5068 Figure 8-5 The connection of mcBlendingLow
5069
5070 (% style="text-align:center" %)
5071 [[image:1709016915405-788.png]]
5072
5073
5074 Figure 8-6 shows the sequence diagram of mcBlendingLow. To illustrate maBlendingLow, two subsequent function block instance FB2 and FB3 are used in the figure. In the figure, FB1 is activated when start_1 is set on the rising edge and then its BusY_1 is set. When FB1 controls the axis to move, start=2 of the FB2 instance is also set on the rising edge. FB1 does not complete the axis motion, so the Buffer-Mode of FB2 is set to mcBlendingLow.
5075
5076 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
5077
5078 It means that in the subsequent motion of FB1, the velocity of the axis is reduced to 50u/s according to the deceleration of FB2. When the axis velocity drops to the mixed low velocity, the FB1 control axis moves to the set position of 1000u, and the output Done_1 of FB1 is set, which indicates the end of its controlled motion.
5079
5080 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
5081
5082 At this time, if the Start_3 of the function block instance FB3 is set, since FB2 has not reached its position of 2000u, and the Buffer-Mode of FB3 is set to be mcBlendingLow, when the Start_3 of FB3 is set, the moving axis will control the axis according to the set velocity of FB2 and FB3 (whichever is lower) until the position of the axis reaches the set position of 2000u, then the output Active_2 is reset when FB2 is activated.
5083
5084 At this time, if the Start_3 of the function block instance FB3 is set, since FB2 has not reached its position of 2000u, and the Buffer-Mode of FB3 is set to be mcBlendingLow, when the Start_3 of FB3 is set, the moving axis will control the axis according to the set velocity of FB2 and FB3 (whichever is lower) until the position of the axis reaches the set position of 2000u, then the output Active_2 is reset when FB2 is activated. Then under the control of the FB3 function block instance, increase the velocity of the axis to 100u/s; then keep the axis move at constant velocity, and finally reduce the velocity to 0u/s; at this time the axis reaches the set position of 3000u.
5085
5086 Figure 8-6 The sequence diagram of mcBlendingLow
5087
5088 (% style="text-align:center" %)
5089 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
5090
5091 mcBlending means that due to the difference in the set velocity of the previous and next function blocks, when the Execute rising edge input of the next function block is set, the system will determine what velocity should be adopted to control the axis according to the BufferMode parameter set by the next function block.
5092
5093 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
5094
5095 The previous function block will complete the subsequent motion under the control of blending velocity until it reaches the set position, and the subsequent function block will continue to control the axis. mcBlendingPrevious: the blending velocity adopts the velocity set by the previous function block.
5096
5097 mcBlendingPrevious
5098
5099 As shown in Figure 8-5, if the BufferMode parameter of FB2 and FB3 is set to be mcBlendingPrevious, the blending velocity directly adopts the velocity of the previous function block.
5100
5101 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
5102
5103 When analyzing the sequence diagram, pay attention to the change of blending velocity. As shown in Figure 8-7, in the timing diagram of the mcBlendingPrevious, when FB1 is in buffer mode, the axis moves according to the velocity of the previous function block FB1, i.e., 100u/s, until it reaches the set position of 1000u.
5104
5105 When FB2 is in buffer mode, the axis moves according to the velocity of the previous function block FB2, i.e., 50u/s, until it reaches the set position of 2000u.
5106
5107 Therefore, the axis velocity is100u/s when FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
5108
5109 Figure 8-7 Sequence diagram of mcBlendingPrevious
5110
5111 (% style="text-align:center" %)
5112 [[image:1709017101626-838.png]]
5113
5114 mcBlendingNext
5115
5116 As shown in Figure 8-5, if the BufferMode parameter of FB2 and FB3 is set to be mcBlendingNext, the blending velocity directly adopts the velocity of the next function block.
5117
5118 Figure 8-8 shows the timing diagram of the mcBlendingNext.
5119
5120 As shown in Figure 8-8, in the timing diagram of the mcBlendingNext, when FB1 is in buffer mode, the axis moves according to the velocity of the next function block FB2, i.e., 50u/s,
5121
5122 until it reaches the set position of 1000u. When FB2 is in buffer mode, the axis moves at 100U/S according to the velocity of the next function block FB3, until it reaches the set position of 2000U. Therefore, the axis velocity is 50u/s when the FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
5123
5124 As shown in Figure 8-6 of the sequence diagram of the mcBlendingLow, when FB1 is in buffer mode, the axis buffers at the low blending velocity and moves at 50U/S according to the velocity of FB2, until it reaches the set position of 1000U.
5125
5126 When FB2 is in buffer mode, the axis buffers at the low blending velocity and moves at 50U/S according to the velocity of the FB2, until it reaches the set position of 2000U.
5127
5128 Therefore, the axis velocity is 50u/s when the FB1 output Active is reset, and the axis velocity is 50u/s when FB2 output Active is reset.
5129
5130 == **Error Code Cross-reference Table** ==
5131
5132 ----
5133
5134 |=**Error Code**|=**Error Definition**|=**Interpretation**
5135 |(% colspan="3" %)**Normal**
5136 |0x00|MC_ERROR_ID_SUCCESS|No error
5137 |(% colspan="3" %)**Run-time error**
5138 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
5139 Not feasible to compute
5140
5141 S-curve
5142 )))
5143 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
5144 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
5145 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
5146 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
5147 |(% colspan="3" %)**PLCOpen State-machine error**
5148 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
5149 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
5150 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
5151 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
5152 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
5153 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
5154 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
5155 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
5156 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
5157 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
5158 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
5159 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
5160 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
5161 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
5162 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
5163 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
5164 |(% colspan="3" %)**Error due to user/system limitations**
5165 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
5166 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
5167 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
5168 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
5169 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
5170 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5171 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5172 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5173 |0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5174 |(% colspan="3" %)**Error Stop**
5175 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5176 |(% colspan="3" %)**Error from servo**
5177 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
5178 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
5179 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
5180 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
5181 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
5182 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
5183 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
5184 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
5185 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
5186 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
5187 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
5188 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
5189 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
5190 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
5191 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
5192 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
5193 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
5194 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5195 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5196 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5197 |0x00600014|(((
5198 MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5199
5200 OVER_LIMIT
5201 )))|Pulse shaft HOME Velocity over limit
5202 |0x00600015|(((
5203 MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5204
5205 OVER_LIMIT
5206 )))|Pulse shaft HOME Acceleration over limit
5207 |0x00600020|(((
5208 MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5209
5210 NOTMAP
5211 )))|(((
5212 There is no required PDO for the mode
5213
5214 corresponding to mode switching.
5215 )))
5216 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5217 |(% colspan="3" %)**Axis’s error**
5218 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
5219 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
5220 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
5221 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
5222 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
5223 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
5224 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
5225 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
5226 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
5227 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
5228 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
5229 |0x0070000B|(((
5230 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
5231
5232 N
5233 )))|(((
5234 Axis can't combine while
5235
5236 running
5237 )))
5238 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
5239 |(% colspan="3" %)**General FB error**
5240 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
5241 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
5242 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
5243 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
5244 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
5245 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
5246 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
5247 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
5248 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
5249 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
5250 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
5251 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
5252 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
5253 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
5254 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
5255 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
5256 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
5257 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
5258 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
5259 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
5260 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
5261 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
5262 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
5263 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
5264 |(% colspan="3" %)**General axis group error**
5265 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
5266 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
5267 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
5268 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
5269 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
5270 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
5271 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
5272 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
5273 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
5274 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
5275 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
5276 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
5277 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
5278 |(% colspan="3" %)**Single axis planner error**
5279 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
5280 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
5281 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
5282 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
5283 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
5284 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
5285 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
5286 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
5287 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
5288 |(% colspan="3" %)**Axis group planner error**
5289 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
5290 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
5291 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5292 |(% colspan="3" %)**ECAM or EGEAR error**
5293 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5294 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5295 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5296 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5297 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5298 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5299 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5300 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5301 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5302 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5303 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5304 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5305 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5306 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5307 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5308 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5309 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5310 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5311 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5312 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5313 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5314 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5315
5316