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Wiki source code of 08 Motion Control

Version 8.1 by Iris on 2025/12/24 16:39
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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 * In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
818 * In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
819 * In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
820
821 Error code
822
823 |=**Error code**|=**Content**
824 |4084H|Data beyond the specifiable range was entered.
825
826 Sequence diagram
827
828 * When the call is located, trigger MC_STOP instruction and sequence diagram is as follows:
829
830 (% style="text-align:center" %)
831 [[image:1708934225357-168.png||_mstalt="296452"]]
832
833 * When driver fails during the instruction running, sequence diagram is as follows:
834
835 (% style="text-align:center" %)
836 [[image:1708934303224-405.png||_mstalt="292370"]]
837
838 === **MC_HOME** ===
839
840 ----
841
842 MC_HOME
843
844 (% style="text-align:center" %)
845 [[image:1708934397030-253.png||_mstalt="294047"]]
846
847 This function block is used to change the state of the controlled axis to the origin state.
848
849 Device used (only a single device can be used, and device splicing and offset are not supported)
850
851 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
852 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
853 |(% colspan="1" rowspan="10" %)MC_HMOE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
854 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
855 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
856 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
857 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
858 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
859 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
860 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
861 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
862 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
863
864 Precautions for use of devices
865
866 * LC and HSC are signed 32-bit data types;
867 * T, C, D, R and SD are signed 16-bit data types.
868
869 Variable Type Used
870
871 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
872 |(% colspan="1" rowspan="10" %)MC_HOME|Execute|BOOL|No|TRUE/FALSE|Enable
873 |Position|LREAL|No|0 to 9999999.00|Position
874 |BufferMode|WORD|No|0 to 5|Mode selection
875 |Axis|WORD|No|0 to 65535|Axis number
876 |Done|BOOL|No|TRUE/FALSE|Completion sign
877 |Busy|BOOL|No|TRUE/FALSE|Busy sign
878 |Active|BOOL|Yes|TRUE/FALSE|Valid flag bit
879 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
880 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
881 |ErrorID|DWORD|No|-|Error code
882
883 Function
884
885 * 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.
886
887 Precautions
888
889 * This function block is not available when the axis does not exist.
890
891 Error code
892
893 |=**Error code**|=**Content**
894 |4084H|Data beyond the specifiable range was entered.
895
896 Sequence diagram
897
898 Start origin homing, and then driver normally executes origin homing, sequence diagram is as follows:
899
900
901 (% style="text-align:center" %)
902 [[image:1708934632681-933.png||_mstalt="296465"]]
903
904 === **MC_HALT** ===
905
906 ----
907
908 MC_HALT
909
910 (% style="text-align:center" %)
911 [[image:1708934697518-386.png||_mstalt="299234"]]
912
913 This function block is often used to stop the motion of the controlled axis under normal operating conditions.
914
915 Device used (only a single device can be used, and device splicing and offset are not supported)
916
917 (% style="width:1455px" %)
918 |=**Instruction**|=**Parameter**|=(% colspan="24" style="width: 935px;" %)**Devices**|=(% colspan="2" style="width: 91px;" %)(((
919 **Index modification**
920 )))|=**Pulse expansion**
921 | | |**X**|**Y**|**M**|**S**|**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**
922 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
923 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
924 |Jerk| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
925 |Axis| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
926 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
927 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
928 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
929 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
930 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
931 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" style="width:22px" %) |(% style="width:140px" %) |(% colspan="2" %)
932
933 Precautions for use of devices
934
935 * LC and HSC are signed 32-bit data types;
936 * T, C, D, R and SD are signed 16-bit data types;
937
938 Variable Type Used
939
940 |**Instruction**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
941 |(% colspan="1" rowspan="10" %)MC_HALT|Execute|BOOL|No|TRUE/FALSE|Enable
942 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
943 |Jerk|LREAL|No|0 to 9999999.00|Jerk
944 |Axis|WORD|No|0 to 65535|Axis number
945 |Done|BOOL|No|TRUE/FALSE|Data valid or not
946 |Busy|BOOL|No|TRUE/FALSE|Busy sign
947 |Active|BOOL|No|TRUE/FALSE|Valid sign
948 |InstructionAborted|BOOL|No|TRUE/FALSE|Aborted sign
949 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
950 |ErrorID|DWORD|No|-|Error code
951
952 Function
953
954 * 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.
955
956 Precautions
957
958 * This function block is not available when the axis does not exist.
959
960 Error code
961
962 |=**Error code**|=**Content**
963 |4084H|Data beyond the specifiable range was entered.
964
965 **Sequence diagram**
966
967 * After the call is located, trigger MC_HALT instruction, sequence diagram is as follows:(((
968 (% style="text-align:center" %)
969 [[image:1708935236792-154.png||_mstalt="296127"]]
970 )))
971
972 * After triggering MC_HALT instruction, call the location instruction again to interrupt the execution of MC_HALT, sequence diagram is as follows:
973
974 (% style="text-align:center" %)
975 [[image:1708935259573-284.png||_mstalt="297609"]]
976
977 * When executing MC_HALT, showdown failure happens, sequence diagram is as follows:
978
979 (% style="text-align:center" %)
980 [[image:1708935287683-523.png||_mstalt="297037"]]
981
982 === **MC_MOVEABSOLUTE** ===
983
984 ----
985
986 MC_MOVEABSOLUTE
987
988 (% style="text-align:center" %)
989 [[image:1708935525380-170.png||_mstalt="294034"]]
990
991 The function block makes the controlled axis reach the set absolute position with the input parameters.
992
993 Device used (only a single device can be used, and device splicing and offset are not supported)
994
995 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
996 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
997 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
998 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
999 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
1000 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1001 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1002 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1003 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1004 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1005 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1006 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1007 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1008 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1009 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1010 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1011 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1012
1013 Precautions for use of devices
1014
1015 * LC and HSC are signed 32-bit data types;
1016 * T, C, D, R and SD are signed 16-bit data types;
1017
1018 Variable Type Used
1019
1020
1021 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1022 |(% colspan="1" rowspan="15" %)MC_MOVEABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
1023 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1024 |Position|LREAL|No|-9999999.00~~9999999.00|Absolute position
1025 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1026 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1027 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1028 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1029 |BufferMode|WORD|No|0 to 5|Mode selection
1030 |Axis|WORD|No|0 to 65535|Axis number
1031 |Done|BOOL|No|TRUE/FALSE|Completion sign
1032 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1033 |Active|BOOL|No|TRUE/FALSE|Valid sign
1034 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1035 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1036 |ErrorID|DWORD|No|-|Error code
1037
1038 Function
1039
1040 * The function block enables the controlled axis reach the set absolute position with input parameters (velocity, acceleration, deceleration, jerk and specified motion direction).
1041
1042 Precautions
1043
1044 * This function block is not available when the axis does not exist.
1045
1046 Error code
1047
1048 |=**Error code**|=**Content**
1049 |4084H|Data beyond the specifiable range was entered.
1050
1051 Sequence diagram
1052
1053 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1054
1055 (% style="text-align:center" %)
1056 [[image:1708935703902-764.png||_mstalt="296088"]]
1057
1058 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1059
1060 (% style="text-align:center" %)
1061 [[image:1708935740101-262.png||_mstalt="292266"]]
1062
1063 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1064
1065 (% style="text-align:center" %)
1066 [[image:1708935762521-958.png||_mstalt="297843"]]
1067
1068 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2):
1069
1070 (% style="text-align:center" %)
1071 [[image:1708935788803-332.png||_mstalt="296166"]]
1072
1073 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1074
1075 (% style="text-align:center" %)
1076 [[image:1708935816541-212.png||_mstalt="293501"]]
1077
1078 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1079
1080 (% style="text-align:center" %)
1081 [[image:1708935852123-588.png||_mstalt="297206"]]
1082
1083 * mcBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1084
1085 (% style="text-align:center" %)
1086 [[image:1708935874762-466.png||_mstalt="298584"]]
1087
1088
1089 === **MC_MOVERELATIVE** ===
1090
1091 ----
1092
1093 MC_MOVERELATIVE
1094
1095 (% style="text-align:center" %)
1096 [[image:1708935994795-183.png||_mstalt="299455"]]
1097
1098 The function block makes the controlled axis reach the set absolute position with the input parameters.
1099
1100 Device used (only a single device can be used, and device splicing and offset are not supported)
1101
1102 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1103 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1104 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1105 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1106 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1107 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1108 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1109 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1110 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1111 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1112 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1113 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1114 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1115 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1116 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1117 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1118 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1119
1120 Precautions for use of devices
1121
1122 * LC and HSC are signed 32-bit data types;
1123 * T, C, D, R and SD are signed 16-bit data types.
1124
1125 Variable Type Used
1126
1127
1128 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1129 |(% colspan="1" rowspan="15" %)MC_MOVERELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1130 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1131 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1132 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1133 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1134 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1135 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1136 |BufferMode|WORD|No|0 to 5|Mode selection
1137 |Axis|WORD|No|0 to 65535|Axis number
1138 |Done|BOOL|No|TRUE/FALSE|Completion sign
1139 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1140 |Active|BOOL|No|TRUE/FALSE|Valid sign
1141 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1142 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1143 |ErrorID|DWORD|No|-|Error code
1144
1145 Function
1146
1147 * 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.
1148
1149 Precautions
1150
1151 * This function block is not available when the axis does not exist.
1152
1153 Error code
1154
1155 |=**Error code**|=**Content**
1156 |4084H|Data beyond the specifiable range was entered.
1157
1158 Sequence diagram
1159
1160 * Normal working condition sequence diagram (buffermode_1=0, buffermode_2=0):
1161
1162 (% style="text-align:center" %)
1163 [[image:1708936170353-654.png||_mstalt="295438"]]
1164
1165 * mcAboring sequence diagram (buffermode_1=0, buffermode_2=0):
1166
1167 (% style="text-align:center" %)
1168 [[image:1708936200749-506.png||_mstalt="295282"]]
1169
1170 * mcBuffered sequence diagram (buffermode_1=0, buffermode_2=1):
1171
1172 (% style="text-align:center" %)
1173 [[image:1708936252703-706.png||_mstalt="294801"]]
1174
1175 * mcBlendingLow sequence diagram (buffermode_1=0, buffermdoe_2=2, buffermode_3=2)(((
1176 (% style="text-align:center" %)
1177 [[image:1708936284791-539.png||_mstalt="298623"]]
1178 )))
1179
1180 * mcBlendingPrevious sequence diagram (buffermode_1=0, buffermode_2=3, buffermode_3=3)
1181
1182 (% style="text-align:center" %)
1183 [[image:1708936309446-511.png||_mstalt="294723"]]
1184
1185 * mcBlendingNext sequence diagram (buffermode_1=0, buffermode_2=4，buffermode_3=4):
1186
1187 (% style="text-align:center" %)
1188 [[image:1708936332278-409.png||_mstalt="296439"]]
1189
1190 * McBlendingHigh sequence diagram (buffermode_1=0, buffermode_2=5, buffermode_3=5):
1191
1192 (% style="text-align:center" %)
1193 [[image:1708936365320-929.png||_mstalt="296660"]]
1194
1195 === **MC_MOVEADDITIVE** ===
1196
1197 ----
1198
1199 MC_MOVEADDITIVE
1200
1201 (% style="text-align:center" %)
1202 [[image:1708936429637-442.png||_mstalt="296634"]]
1203
1204 This function block is a motion increment function block.
1205
1206 Device used (only a single device can be used, and device splicing and offset are not supported)
1207
1208 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1209 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1210 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1211 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1212 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1213 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
1214 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1215 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1216 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1217 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1218 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1219 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1220 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1221 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1222 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1223 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1224 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1225
1226 Precautions for use of devices
1227
1228 * LC and HSC are signed 32-bit data types;
1229 * T, C, D, R and SD are signed 16-bit data types.
1230
1231 Variable Type Used
1232
1233 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1234 |(% colspan="1" rowspan="15" %)MC_MOVEADDITIVE|Execute|BOOL|No|TRUE/FALSE|Enable
1235 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1236 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1237 |Velocity|LREAL|No|0 to 9999999.00|Velocity
1238 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1239 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1240 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1241 |BufferMode|WORD|No|0 to 5|Mode selection
1242 |Axis|WORD|No|0 to 65535|Axis number
1243 |Done|BOOL|No|TRUE/FALSE|Completion sign
1244 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1245 |Active|BOOL|No|TRUE/FALSE|Valid sign
1246 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1247 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1248 |ErrorID|DWORD|No|-|Error code
1249
1250 Function
1251
1252 * 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.
1253
1254 Precautions
1255
1256 * This function block is not available when the axis does not exist.
1257
1258 Error code
1259
1260 |=**Error code**|=**Content**
1261 |4084H|Data beyond the specifiable range was entered.
1262
1263 Sequence diagram
1264
1265 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:
1266
1267 (% style="text-align:center" %)
1268 [[image:1708936628466-218.png||_mstalt="297193"]]
1269
1270 === **MC_MOVESUPERIMPOSED** ===
1271
1272 ----
1273
1274 MC_MOVESUPERIMPOSED
1275
1276 (% style="text-align:center" %)
1277 [[image:1708936695676-290.png||_mstalt="298506"]]
1278
1279 This function block is a motion superposition function block.
1280
1281 Device used (only a single device can be used, and device splicing and offset are not supported)
1282
1283 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1284 **Index**
1285
1286 **modification**
1287 )))|=(((
1288 **Pulse**
1289
1290 **expansion**
1291 )))
1292 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1293 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1294 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1295 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
1296 |VelocityDiff| | | | | | | | | | | | | | | | | | | | | | | | | |
1297 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1298 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1299 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1300 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1301 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
1302 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1303 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1304 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1305 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1306 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1307 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1308
1309 Precautions for use of devices
1310
1311 * LC and HSC are signed 32-bit data types;
1312 * T, C, D, R and SD are signed 16-bit data types;
1313
1314 Variable Type Used
1315
1316 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1317 |(% colspan="1" rowspan="15" %)MC_MOVESUPERIMPOSED|Execute|BOOL|No|TRUE/FALSE|Enable
1318 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation
1319 |Distance|LREAL|No|-9999999.00~~9999999.00|Relative position
1320 |VelocityDiff|LREAL|No|0 to 9999999.00|Velocity
1321 |Acceleration|LREAL|No|0 to 9999999.00|Acceleration
1322 |Deceleration|LREAL|No|0 to 9999999.00|Deceleration
1323 |Jerk|LREAL|No|0 to 9999999.00|Jerk
1324 |BufferMode|WORD|No|0 to 5|Mode selection
1325 |Axis|WORD|No|0 to 65535|Axis number
1326 |Done|BOOL|No|TRUE/FALSE|Completion sign
1327 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1328 |Active|BOOL|No|TRUE/FALSE|Valid sign
1329 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1330 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1331 |ErrorID|DWORD|No|-|Error code
1332
1333 Function
1334
1335 * 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).
1336
1337 Precautions
1338
1339 * This function block is not available when the axis does not exist;
1340 * When it executes, the previous function block should be executed first.
1341
1342 Error code
1343
1344 |=**Error code**|=**Content**
1345 |4084H|Data beyond the specifiable range was entered.
1346
1347 Sequence diagram
1348
1349 (% style="text-align:center" %)
1350 [[image:1708936849134-999.png||_mstalt="300794"]]
1351
1352
1353 == **Management Function Blocks for Multi-axis Motion Control** ==
1354
1355 ----
1356
1357 === **MC_CAMTABLESELECT** ===
1358
1359 ----
1360
1361 MC_CAMTABLESELECT
1362
1363 (% style="text-align:center" %)
1364 [[image:1708937013155-415.png||_mstalt="293540"]]
1365
1366 This function block is used to bind the cam table.
1367
1368 Device used (only a single device can be used, and device splicing and offset are not supported)
1369
1370
1371 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=(((
1372 **Index**
1373
1374 **modification**
1375 )))|=(((
1376 **Pulse**
1377
1378 **expansion**
1379 )))
1380 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1381 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1382 |Periodic|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1383 |MasterAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1384 |SlaveAbsolute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1385 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1386 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1387 |CamTable| | | | | | | | | | | | | | | | |●| | | | | | | | |
1388 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1389 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1390 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1391 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1392 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1393
1394 Precautions for use of devices
1395
1396 * LC and HSC are signed 32-bit data types;
1397 * T, C, D, R and SD are signed 16-bit data types;
1398
1399 Variable Type Used
1400
1401 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1402 |(% colspan="1" rowspan="12" %)MC_CAMTABLESELECT|Execute|BOOL|No|TRUE/FALSE|Enable
1403 |Periodic|BOOL|No|TRUE/FALSE|Cyclic mode setting
1404 |MasterAbsolute|BOOL|No|TRUE/FALSE|Master axis position mode setting
1405 |SlaveAbsolute|BOOL|No|TRUE/FALSE|Slave axis position mode setting
1406 |Master|WORD|No|-|Master axis
1407 |Slave|WORD|No|-|Slave axis
1408 |CamTable|Cam table (INT type variable)|No|-|Cam table
1409 |Done|BOOL|No|TRUE/FALSE|Completion sign
1410 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1411 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1412 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1413 |CamTableID|WORD|No|-|Cam table identification number
1414
1415 Function
1416
1417 * 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;
1418 * 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;
1419 * 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.
1420
1421 Precautions
1422
1423 * This function block is not available when the axis does not exist.
1424
1425 Error code
1426
1427 |=**Error code**|=**Content**
1428 |4084H|Data beyond the specifiable range was entered.
1429
1430 Sequence diagram
1431
1432 (% style="text-align:center" %)
1433 [[image:1708937230885-390.png||_mstalt="296439"]]
1434
1435 === **MC_GENERATECAMTABLE** ===
1436
1437 ----
1438
1439 MC_GENERATECAMTABLE
1440
1441 (% style="text-align:center" %)
1442 [[image:1708937316371-993.png||_mstalt="297687"]]
1443
1444 This function block is used to update the cam table.
1445
1446 Device used (Only a single device can be used, and device splicing and offset are not supported)
1447
1448 |=(((
1449
1450
1451 **Instruction**
1452 )))|=(((
1453
1454
1455 **Parameter**
1456 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1457 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1458 |(% colspan="1" rowspan="10" %)(((
1459
1460
1461
1462
1463 MC_GENERATECAMTABLE
1464 )))|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"]]| | | | | | | | | | | | | | | | | | | | |
1465 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1466 |CamNode| | | | | | | | | | | | | | | | | | | | | | | | | |
1467 |NodeNum| | | | | | | | | | | | | | | | |[[image:1708937346415-218.png||_mstalt="295373"]]| | | | | | | | |
1468 |(((
1469 Generatecam
1470
1471 TableMode
1472 )))| | | | | | | | | | | | | | | | |[[image:1708937346415-626.png||_mstalt="296153"]]| | | | | | | | |
1473 |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"]]| | | | | | | | | | | | | | | | | | | | |
1474 |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"]]| | | | | | | | | | | | | | | | | | | | |
1475 |InstructionAborted| |(((
1476 [[image:1708937346425-166.png||_mstalt="296166"]]
1477
1478 [[image:1708937346425-794.png||_mstalt="298064"]]
1479 )))|(((
1480 [[image:1708937346426-497.png||_mstalt="298389"]]
1481
1482 [[image:1708937346427-332.png||_mstalt="295152"]]
1483 )))|(((
1484 [[image:1708937346427-282.png||_mstalt="296309"]]
1485
1486 [[image:1708937346428-957.png||_mstalt="299104"]]
1487 )))|(((
1488 [[image:1708937346429-449.png||_mstalt="298298"]]
1489
1490
1491 )))| | | | | | | | | | | | | | | | | | | | |
1492 |Error| | | | |[[image:1708937346429-635.png||_mstalt="297362"]]| | | | | | | | | | | | | | | | | | | | |
1493 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1494
1495 Precautions for use of devices
1496
1497 * LC and HSC are signed 32-bit data types;
1498 * T, C, D, R and SD are signed 16-bit data types;
1499
1500 Variable type used
1501
1502 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 |(% colspan="1" rowspan="10" %)(((
1504
1505
1506
1507
1508
1509 MC_GENERATECAMTABLE
1510 )))|(% colspan="1" rowspan="5" %)(((
1511
1512
1513
1514 Input
1515 )))|Execute|BOOL|No|TRUE/FALSE|Enable
1516 |CamTableID|INT|No| |Cam tableID
1517 |CamNode|(((
1518 ARRAY
1519
1520 (CAMNODET)
1521 )))|No|-|Array of cam nodes
1522 |NodeNum|INT|No|2 ～361|Number of cam nodes
1523 |(((
1524 GeneratecamTable
1525
1526 Mode
1527 )))|(((
1528
1529
1530 INT
1531 )))|(((
1532
1533
1534 No
1535 )))|(((
1536
1537
1538
1539 )))|(((
1540 Effective mode
1541
1542 0： Effective in the next cam cycle;
1543
1544 Others: Reserved
1545 )))
1546 |(% colspan="1" rowspan="5" %)(((
1547
1548
1549
1550 Output
1551 )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1552 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1553 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1554 |Error|BOOL|Yes| |Whether there is an error or not
1555 |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1556
1557 Function
1558
1559 * 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.
1560
1561 (% class="box infomessage" %)
1562 (((
1563 **✎Note:**
1564
1565 ~1. This function block is not available when the Cam table does not exist.
1566
1567 2. The data written to ECAM table needs to be accurate to six decimal places, otherwise PLC will report error 16x00000C
1568 )))
1569
1570 Sequence diagram
1571
1572 (% style="text-align:center" %)
1573 [[image:Picture12.png]]
1574
1575
1576 === **MC_SAVECAMTABLE** ===
1577
1578 ----
1579
1580 MC_SAVECAMTABLE
1581
1582 (% style="text-align:center" %)
1583 [[image:1708937631240-106.png||_mstalt="292552"]]
1584
1585 This function block is used to save the cam table.
1586
1587 Device used (Only a single device can be used, and device splicing and offset are not supported)
1588
1589 |=(((
1590
1591
1592 **Instruction**
1593 )))|=(((
1594
1595
1596 **Parameter**
1597 )))|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1598 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1599 |(% colspan="1" rowspan="7" %)(((
1600
1601
1602
1603 MC_SAVECAMTABLE
1604 )))|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"]]| | | | | | | | | | | | | | | | | | | | |
1605 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1606 |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"]]| | | | | | | | | | | | | | | | | | | | |
1607 |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"]]| | | | | | | | | | | | | | | | | | | | |
1608 |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"]]| | | | | | | | | | | | | | | | | | | | |
1609 |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"]]| | | | | | | | | | | | | | | | | | | | |
1610 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1611
1612 Precautions for use of devices
1613
1614 * LC and HSC are signed 32-bit data types;
1615 * T, C, D, R and SD are signed 16-bit data types;
1616
1617 Variable type used
1618
1619 |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1620 |(% colspan="1" rowspan="7" %)(((
1621
1622
1623
1624
1625 MC_SAVECAMTABLE
1626 )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1627 |CamTableID|INT|No|-|Cam tableID
1628 |(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1629 |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1630 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1631 |Error|BOOL|Yes|-|Whether there is an error or not
1632 |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1633
1634 Function
1635
1636 * This function block is used to save the specified cam table.
1637
1638 (% class="box infomessage" %)
1639 (((
1640 (% _mstmutation="1" %)**✎Note:**(%%)This function block is not available when the Cam table does not exist.
1641
1642 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.
1643 )))
1644
1645 Error code
1646
1647 |=**Error code**|=**Content**
1648 |4084H|Data beyond the specifiable range was entered.
1649
1650 Sequence diagram
1651
1652 (% style="text-align:center" %)
1653 [[image:1708937834226-438.png||_mstalt="296829"]]
1654
1655 == **Motion Function Block for Multi-axis Motion Control** ==
1656
1657 ----
1658
1659 === **MC_CAMIN** ===
1660
1661 ----
1662
1663 MC_CAMIN
1664
1665 (% style="text-align:center" %)
1666 [[image:1708937946127-139.png||_mstalt="297128"]]
1667
1668 The function block enables the controlled axis to carry out cam motion.
1669
1670 Device used (only a single device can be used, and device splicing and offset are not supported)
1671
1672 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1673 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1674 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1675 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1676 |MasterIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1677 |SlaveIndex| | | | | | | | | | | | | | | | | | | | | | | | | |
1678 |MasterScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1679 |SlaveScaling| | | | | | | | | | | | | | | | | | | | | | | | | |
1680 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
1681 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
1682 |StartMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1683 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1684 |CamTableID| | | | | | | | | | | | | | | | | | | | | | | | | |
1685 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1686 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1687 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1688 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1689 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1690 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1691 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1692 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1693 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1694 |EndOfProfile| | | | | | | | | | | | | | | | | | | | | | | | | |
1695
1696 Precautions for use of devices
1697
1698 * LC and HSC are signed 32-bit data types;
1699 * T, C, D, R and SD are signed 16-bit data types;
1700
1701 Variable Type Used
1702
1703 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1704 |(% colspan="1" rowspan="21" %)MC_CAMIN|Execute|BOOL|No|TRUE/FALSE|Enable
1705 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1706 |MasterIndex|LREAL|No|-9999999.00~~9999999.00|Master axis offset
1707 |SlaveIndex|LREAL|No|-9999999.00~~9999999.00|Slave axis bias
1708 |MasterScaling|LREAL|No|-9999999.00~~9999999.00|Master axis scaling factor
1709 |SlaveScaling|LREAL|No|-9999999.00~~9999999.00|Slave axis scaling factor
1710 |MasterStartDistance|LREAL|No|-9999999.00~~9999999.00 (not 0)|Master axis starting distance
1711 |MasterSyncPosition|LREAL|No|-9999999.00~~9999999.00|Master axis synchronization position
1712 |StartMode|WORD|No|0 to 2|Start mode (0-Absolute, 1-Relative, 2-Catchup)
1713 |MasterValueSource|WORD|No|0 to 2|(((
1714 Master axis synchronization source
1715
1716 (Instruction value, set value and actual value)
1717 )))
1718 |CamTableID|WORD|No|0 to 9999999.00|Electronic CAM table identification
1719 |BufferMode|WORD|No|0|Mode selection
1720 |Master|WORD|No|-|Master axis
1721 |Slave|WORD|No|-|Slave axis
1722 |InSync|BOOL|No|TRUE/FALSE|Completion sign
1723 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1724 |Active|BOOL|No|TRUE/FALSE|Valid sign
1725 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1726 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1727 |ErrorID|DWORD|No|-|[[Error code>>path:#_8.10_Error_Code]]
1728 |EndOfProfile|WORD|No|-|Electronic CAM end signal
1729
1730 Function
1731
1732 * 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.
1733 * MasterSyncPosition
1734
1735 MasterSyncPosition is the absolute position when the axis mode is absolute;
1736
1737 MasterSyncPosition is the relative position when the axis mode is relative;
1738
1739 * 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.
1740 * 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.
1741 * 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:
1742
1743 |=**StartMode**|=**SlaveAbsolute**|=**Slave axis mode**
1744 |Absolute|Relative|Relative
1745 |Absolute|Absolute|Absolute
1746 |Relative|Relative|Relative
1747 |Relative|Absolute|Relative
1748 |Catch up|Relative|Relative catch up
1749 |Catch up|Absolute|Relative catch up
1750
1751 |=**Master axis mode**|=**Slave axis mode**|=**Result**
1752 |(% colspan="1" rowspan="4" %)Relative|Relative|(((
1753 When CAMIN is executed, slave axis position jumps to the set offset position;
1754
1755 When master axis is executing, slave axis performs relative motion according to the start position of cam table.
1756 )))
1757 |Absolute|(((
1758 When CAMIN is executed, slave axis position jumps to the cam table start position (i.e., 0);
1759
1760 When the master axis is executing, slave axis moves according to the corresponding point position of the cam table.
1761 )))
1762 |Relative|(((
1763 When CAMIN is executed, slave axis position catches up to the set offset position;
1764
1765 When the master axis is executing, the slave axis performs relative motion according to the corresponding points of the cam table.
1766 )))
1767 |Absolute catch up|(((
1768 When CAMIN is executed, slave axis position catches up to the cam table starting position (i.e., 0);
1769
1770 When the master axis is executing, the slave axis moves according to the corresponding point position of the cam table.
1771 )))
1772 |(% colspan="1" rowspan="4" %)Absolute|Relative|(((
1773 When CAMIN is executed, slave axis position jumps to the set offset position;
1774
1775 When the master axis is executing, the slave axis performs relative motion according to the points corresponding to the cam table.
1776 )))
1777 |Absolute|(((
1778 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;)
1779
1780 After the master axis is executing, slave axis performs relative motion according to the corresponding points in the cam table.
1781 )))
1782 |Relative catch up|(((
1783 When CAMIN is executed, slave axis position catches up to the set offset position;
1784
1785 When the master axis is executing, slave axis performs relative motion according to the corresponding points of the cam table.
1786 )))
1787 |Absolute catch up|(((
1788 When CAMIN is executed, slave axis position catches up to the current slave axis position corresponding to the master axis in the cam table
1789
1790 (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;)
1791
1792 After the master axis is running, the slave axis performs relative motion to the corresponding points in the cam table.
1793 )))
1794
1795 * 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.
1796
1797 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);
1798
1799 * 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.
1800 * The master-slave position relationship (where CAM () indicates the corresponding slave position of the master axis on the cam table):
1801
1802 Master Position = Master Position * Master Multiplier + Master Offset
1803
1804 Slave position = Slave multiplier * CAM (spindle position) + Slave offset
1805
1806 * The master-slave multiplier cannot be 0.
1807
1808 Precautions
1809
1810 * This function block is not available when the axis does not exist;
1811 * 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.
1812
1813 Error code
1814
1815 |=**Error code**|=**Content**
1816 |4084H|Data beyond the specifiable range was entered.
1817
1818 Sequence diagram
1819
1820 ▪ 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.
1821
1822 (% style="text-align:center" %)
1823 [[image:1708938240121-859.png||_mstalt="295776"]]
1824
1825 (1) Slave motion varies depending on StartMode.
1826
1827 Assume that the start conditions for cam motion are as follows:
1828
1829 ▪ 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.
1830
1831 ▪ 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.
1832
1833 ▪ 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.
1834
1835
1836 |=**Input variable**|=**Condition 1**|=**Condition 2**|=**Condition 3**
1837 |MasterAbsolute|True (Absolute)|True (Absolute)|True (Absolute)
1838 |SlaveAbsolute|True (Absolute)|True (Absolute)|FALSE (Relative)
1839 |StartMode|MC_START_MODE_ABSOLUTE|MC_START_MODE_RAMPIN|MC_START_MODE_RELATIVE
1840 |MasterSyncPosition|70|70|70
1841 |MasterDistace|50|50|50
1842 |MasterOffset|0|0|0
1843 |SlaveOffset|0|0|0
1844 |MasterScaling|1|1|1
1845 |SlaveScaling|1|1|1
1846
1847 (2) Slave motion varies depending on MasterAbsolute.
1848
1849 (% style="text-align:center" %)
1850 [[image:1708938293300-489.png||_mstalt="296868"]]
1851
1852 (% style="text-align:center" %)
1853 [[image:1708938305434-874.png||_mstalt="296933"]]
1854
1855
1856 (% style="text-align:center" %)
1857 [[image:1708938314862-131.png||_mstalt="294060"]]
1858
1859 (3)Slave motion varies depending on SlaveAbsolute.
1860
1861
1862 (% style="text-align:center" %)
1863 [[image:1708938393382-857.png||_mstalt="299052"]]
1864
1865 (% style="text-align:center" %)
1866 [[image:1708938413402-528.png||_mstalt="294645"]]
1867
1868
1869 === **MC_CAMOUT** ===
1870
1871 ----
1872
1873 MC_CAMOUT
1874
1875 (% style="text-align:center" %)
1876 [[image:1708938462508-819.png||_mstalt="297947"]]
1877
1878 The function block enables the controlled axis to carry out uniform motion at current velocity.
1879
1880 Device used (only a single device can be used, and device splicing and offset are not supported)
1881
1882 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=(((
1883 **Pulse**
1884
1885 **expansion**
1886 )))
1887 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1888 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1889 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1890 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1891 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1892 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1893 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1894
1895 Precautions for use of devices
1896
1897 * LC and HSC are signed 32-bit data types;
1898 * T, C, D, R and SD are signed 16-bit data types;
1899
1900 Variable Type Used
1901
1902 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1903 |(% colspan="1" rowspan="6" %)MC_CAMOUT|Execute|BOOL|No|TRUE/FALSE|Enable
1904 |Slave|WORD|No|0 to 65535|Slave axis
1905 |Done|BOOL|No|TRUE/FALSE|Completion sign
1906 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1907 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1908 |ErrorID|DWORD|No|-|Error code
1909
1910 Function
1911
1912 * 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.
1913
1914 Precautions
1915
1916 * This function block is not available when the axis does not exist.
1917
1918 Sequence diagram
1919
1920 (% style="text-align:center" %)
1921 [[image:1708938589953-976.png||_mstalt="301886"]]
1922
1923
1924 === **MC_GEARIN** ===
1925
1926 ----
1927
1928 MC_GEARIN
1929
1930 (% style="text-align:center" %)
1931 [[image:1708938638291-674.png||_mstalt="298363"]]
1932
1933 The function block enables the controlled axis to carry out gear motion.
1934
1935 Device used (only a single device can be used, and device splicing and offset are not supported)
1936
1937 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
1938 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
1939 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1940 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1941 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
1942 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
1943 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
1944 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1945 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
1946 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
1947 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
1948 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
1949 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
1950 |InGear| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1951 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1952 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1953 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1954 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
1955 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
1956
1957 Precautions for use of devices
1958
1959 * LC and HSC are signed 32-bit data types;
1960 * T, C, D, R and SD are signed 16-bit data types;
1961
1962 Variable Type Used
1963
1964 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
1965 |(% colspan="1" rowspan="17" %)MC_GEARIN|Execute|BOOL|No|TRUE/FALSE|Enable
1966 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Updated during operation (reserve)
1967 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
1968 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
1969 |MasterValueSource|WORD|No|0 to 2|(((
1970 Master axis synchronization source
1971
1972 (Instruction value, set value and actual value)
1973 )))
1974 |Acceleration|LREAL|No|0 to 9999999.99999|Acceleration
1975 |Deceleration|LREAL|No|0 to 9999999.99999|Deceleration
1976 |Jerk|LREAL|No|0 to 9999999.99999|Jerk
1977 |BufferMode|WORD|No|0 to 5|Selection
1978 |Master|WORD|No|0 to 65536|Master axis
1979 |Slave|WORD|No|0 to 65536|Slave axis
1980 |InGear|BOOL|No|TRUE/FALSE|Completion sign
1981 |Busy|BOOL|No|TRUE/FALSE|Busy sign
1982 |Active|BOOL|No|TRUE/FALSE|Valid sign
1983 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
1984 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
1985 |ErrorID|DWORD|No|-|Error code
1986
1987 Function
1988
1989 * 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.
1990
1991 Precautions
1992
1993 * This function block is not available when the axis does not exist.
1994
1995 Error code
1996
1997 |=**Error code**|=**Content**
1998 |4084H|Data beyond the specifiable range was entered.
1999
2000 Sequence diagram
2001
2002 * 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;
2003 * Before reaching target position is called the Catching phase and after reaching it is called the InGear phase;
2004 * The gear ratio is positive and the slave axis moves in the same direction as the master axis.
2005
2006 (% style="text-align:center" %)
2007 [[image:1708938826565-617.png||_mstalt="298246"]]
2008
2009 * The gear ratio is negative and the slave axis moves in the reverse direction to the master axis.
2010
2011 (% style="text-align:center" %)
2012 [[image:1708938850653-961.png||_mstalt="297531"]]
2013
2014
2015 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.
2016
2017 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.
2018
2019 1. Master axis maintains constant velocity before synchronization (Gear instruction is triggered according to 1:1 gear ratio)(((
2020 (% style="text-align:center" %)
2021 [[image:1708938900938-930.png||_mstalt="297011"]]
2022 )))
2023 1. Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)(((
2024 (% style="text-align:center" %)
2025 [[image:1708938892131-173.png||_mstalt="295360"]]
2026 )))
2027
2028 === **MC_GEAROUT** ===
2029
2030 ----
2031
2032 MC_GEAROUT
2033
2034 (% style="text-align:center" %)
2035 [[image:1708938960939-798.png||_mstalt="301990"]]
2036
2037 The function block enables the controlled axis to carry out uniform motion at current velocity.
2038
2039 Device used (only a single device can be used, and device splicing and offset are not supported)
2040
2041 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2042 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2043 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2044 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2045 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2046 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2047 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2048 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2049
2050 Precautions for use of devices
2051
2052 * LC and HSC are signed 32-bit data types;
2053 * T, C, D, R and SD are signed 16-bit data types;
2054
2055 Variable Type Used
2056
2057 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2058 |(% colspan="1" rowspan="6" %)MC_GEAROUT|Execute|BOOL|No|TRUE/FALSE|Enable
2059 |Slave|WORD|No|0 to 65535|Axis number
2060 |Done|BOOL|No|TRUE/FALSE|Completion sign
2061 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2062 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2063 |ErrorID|DWORD|No|-|Error code
2064
2065 Function
2066
2067 * 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.
2068
2069 Precautions
2070
2071 * This function block is not available when the axis does not exist.
2072
2073 Sequence diagram
2074
2075 (% style="text-align:center" %)
2076 [[image:1708939163693-763.png||_mstalt="298233"]]
2077
2078 === ** MC_GEARINPOS** ===
2079
2080 ----
2081
2082 MC_GEARINPOS
2083
2084 (% style="text-align:center" %)
2085 [[image:1708939230407-562.png||_mstalt="294801"]]
2086
2087 The function block enables the controlled axis to carry out gear motion.
2088
2089 Device used (only a single device can be used, and device splicing and offset are not supported)
2090
2091
2092 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2093 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2094 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2095 |RatioNumerator| | | | | | | | | | | | | | | | | | | | | | | | | |
2096 |RatioDenominator| | | | | | | | | | | | | | | | | | | | | | | | | |
2097 |MasterValueSource| | | | | | | | | | | | | | | | | | | | | | | | | |
2098 |MasterSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2099 |SlaveSyncPosition| | | | | | | | | | | | | | | | | | | | | | | | | |
2100 |SyncMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2101 |MasterStartDistance| | | | | | | | | | | | | | | | | | | | | | | | | |
2102 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2103 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2104 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2105 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2106 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2107 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
2108 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
2109 |StartSync| | | | | | | | | | | | | | | | | | | | | | | | | |
2110 |InSync| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2111 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2112 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2113 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2114 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2115 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2116
2117 Precautions for use of devices
2118
2119 * LC and HSC are signed 32-bit data types;
2120 * C, D, R and SD are signed 16-bit data types.
2121
2122 Variable Type Used
2123
2124 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can be empty or not**|=**Range**|=**Description**
2125 |(% colspan="1" rowspan="22" %)MC_GEARINPOS|Execute|BOOL|No|TRUE/FALSE|Enable
2126 |RatioNumerator|UNIT|No|[-32768,0)U(0,32767]|Gear velocity ratio (numerator)
2127 |RatioDenominator|UDINT|No|(0,65535]|Gear velocity ratio (denominator)
2128 |MasterValueSource|WORD|No|0 to 2|(((
2129 Master axis synchronization source
2130
2131 (Instruction value, set value and actual value)
2132 )))
2133 |MasterSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Master axis synchronization position
2134 |SlaveSyncPosition|LREAL|No|-9999999.999999 to 9999999.999999|Slave axis synchronization position
2135 |SyncMode|WORD|No|0 to 2|Synchronous mode (shortest, catchup, slowdown)
2136 |MasterStartDistance|LREAL|No|-9999999.999999 to 9999999.999999 (not 0)|Master axis starting distance
2137 |Velocity|LREAL|No|0 to 9999999.999999 (not 0)|Velocity
2138 |Acceleration|LREAL|No|0 to 9999999.999999 (not 0)|Acceleration
2139 |Deceleration|LREAL|No|0 to 9999999.999999 (not 0)|Deceleration
2140 |Jerk|LREAL|No|0 to 9999999.999999|Jerk
2141 |BufferMode|WORD|No|0 to 5|Buffer mode selection
2142 |Master|WORD|No|0 to 65535|Master axis
2143 |Slave|WORD|No|0 to 65535|Slave axis
2144 |StartSync|BOOL|No|TRUE/FALSE|Synchronous identification
2145 |InSync|BOOL|No|TRUE/FALSE|Synchronized sign
2146 |Busy|BOOL|No|TRUE/FALSE|Busy sign
2147 |Active|BOOL|No|TRUE/FALSE|Valid sign
2148 |InstructionAborted|BOOL|No|TRUE/FALSE|Abortion sign
2149 |Error|BOOL|No|TRUE/FALSE|Whether there is an error or not
2150 |ErrorID|DWORD|No|-|Error code
2151
2152 Function
2153
2154 * 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.
2155
2156 Precautions
2157
2158 * This function block is not available when the axis does not exist.
2159
2160 Error code
2161
2162 |=**Error code**|=**Content**
2163 |4084H|Data beyond the specifiable range was entered.
2164
2165 Sequence diagram
2166
2167 * 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;
2168 * 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;
2169 * If the gear ratio is positive, the slave axis moves in the same direction as the master axis.
2170
2171 (% style="text-align:center" %)
2172 [[image:1708939532879-130.png||_mstalt="296231"]]
2173
2174 * If the gear ratio is negative, the slave axis moves in the reverse direction to the master axis.
2175
2176 (% style="text-align:center" %)
2177 [[image:1708939562781-830.png||_mstalt="296764"]]
2178
2179 * 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.
2180 * 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.
2181
2182 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).(((
2183 (% style="text-align:center" %)
2184 [[image:1708939646390-943.png||_mstalt="297947"]]
2185 )))
2186 1. (((
2187 Master axis moves in variable velocity before synchronization (Gear instruction triggered according to 1:1 gear ratio)
2188
2189 (% style="text-align:center" %)
2190 [[image:1708939657645-807.png||_mstalt="298857"]]
2191 )))
2192
2193 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:
2194
2195 * Shortest: catching in constant acceleration mode;
2196 * Catchuo: catching in S-curve;
2197 * Slowdown: catching up in T-curve.
2198
2199 (% class="box infomessage" %)
2200 (((
2201 **✎** **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.
2202 )))
2203
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215 == **Management functions of axis group motion control** ==
2216
2217 ----
2218
2219 === **MC_ADDAXISTOGROUP** ===
2220
2221 ----
2222
2223 MC_ADDAXISTOGROUP
2224
2225 (% style="text-align:center" %)
2226 [[image:1708999788060-281.png||_mstalt="297531"]]
2227
2228 The function block is to add axis to axis group.
2229
2230 Device used (Only a single device can be used, and device splicing and index are not supported)
2231
2232 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2233 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2234 |(% colspan="1" rowspan="7" %)MC_ADDAXISTOGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2235 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2236 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2237 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
2238 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2239 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2240 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2241
2242 Precautions for use of devices
2243
2244 ▪LC and HSC are signed 32-bit data types;
2245
2246 ▪T, C, D, R and SD are signed 16-bit data types;
2247
2248 Variable type used
2249
2250 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2251 |(% colspan="1" rowspan="8" %)MC_ADDAXISTOGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2252 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2253 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2254 |Axis|WORD|No|[0 to 65535]|Axis number
2255 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2256 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2257 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2258 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2259
2260 Features
2261
2262 ▪The rising edge of Execute triggers and Axis is added to Axes Group. Instructions are not buffered and axis do not move;
2263
2264 ▪IndentInGroup is a flag of the adding axis order to axis group.
2265
2266 (% class="box infomessage" %)
2267 (((
2268 ✎Note:
2269
2270 ▪If the serial number of the axis group does not exist, an error will be reported;
2271
2272 ▪When the axis group is enabled, an error will be reported when add new axis;
2273
2274 ▪Axis group cannot move when only adding axis to axis group. It is necessary to call MC_GroupEnable to enable the motion.
2275 )))
2276
2277 Error code
2278
2279 |=**Error code**|=**Content**
2280 |4084H|Data beyond the specifiable range was input.
2281
2282 (% style="font-size:14px" %)Sequence diagram
2283
2284 (% style="text-align:center" %)
2285 [[image:1709000371923-181.png||_mstalt="292591"]]
2286
2287 === **MC_REMOVEAXISFROMGROUP** ===
2288
2289 ----
2290
2291 MC_REMOVEAXISFROMGROUP
2292
2293 (% style="text-align:center" %)
2294 [[image:1709000436811-846.png||_mstalt="294346"]]
2295
2296 This function block removes axis from an axis group.
2297
2298 Device used (Only a single device can be used, and device splicing and index are not supported)
2299
2300 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2301 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2302 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2303 |IdentInGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2304 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2305 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2306 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2307 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2308 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2309
2310 Precautions for use of devices
2311
2312 ▪LC and HSC are signed 32-bit data types;
2313
2314 ▪T, C, D, R and SD are signed 16-bit data types;
2315
2316 Variable type used
2317
2318 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2319 |(% colspan="1" rowspan="7" %)MC_REMOVEAXISFROMGROUP|Execute|BOOL|No|TRUE/FALSE|Enable
2320 |IdentInGroup|WORD|No|[0 to 2]|Axis sequence flag
2321 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2322 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2323 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2324 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2325 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2326
2327 Features
2328
2329 ▪This function block removes axis from AxesGroup with serial number marked by IdentInGroup, which are not cached and do not move.
2330
2331 (% class="box infomessage" %)
2332 (((
2333 ✎Note:▪If the serial number of the axis group does not exist, an error will be reported;
2334
2335 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2336
2337 ▪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.
2338 )))
2339
2340 Error code
2341
2342 |=**Error code**|=**Content**
2343 |4084H|Data beyond the specifiable range was input.
2344
2345 Sequence diagram
2346
2347 (% style="text-align:center" %)
2348 [[image:1709000691345-890.png||_mstalt="295061"]]
2349
2350 === **MC_UNGROUPALLAXES** ===
2351
2352 ----
2353
2354 MC_UNGROUPALLAXES
2355
2356 (% style="text-align:center" %)
2357 [[image:1709000738471-185.png||_mstalt="294762"]]
2358
2359 This function block removes all the axes from an axis group.
2360
2361 Device used (Only a single device can be used, and device splicing and index are not supported)
2362
2363 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2364 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2365 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2366 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2367 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2368 |BusY| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2369 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2370 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2371
2372 Precautions for use of devices
2373
2374 ▪LC and HSC are signed 32-bit data types;
2375
2376 ▪T, C, D, R and SD are signed 16-bit data types;
2377
2378 Variable type used
2379
2380 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2381 |(% colspan="1" rowspan="6" %)MC_UNGROUPALLAXES|Execute|BOOL|No|TRUE/FALSE|Enable
2382 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2383 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2384 |BusY|BOOL|Yes|TRUE/FALSE|Busy flag
2385 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2386 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2387
2388 Features
2389
2390 ▪Delete all axes from AxesGroup. Not be buffered and not move.
2391
2392 (% class="box infomessage" %)
2393 (((
2394 ✎Note:
2395
2396 ▪If the serial number of the axis group does not exist, an error will be reported;
2397
2398 ▪ Axis group is running or not disabled, and an error will be reported when removed the axis;
2399 )))
2400
2401 Error code
2402
2403 |=**Error code**|=**Content**
2404 |4084H|Input data beyond the specifiable range
2405
2406 (% style="font-size:14px" %)Sequence diagram
2407
2408 (% style="text-align:center" %)
2409 [[image:1709001126146-829.png||_mstalt="294489"]]
2410
2411 === **MC_GROUPENABLE** ===
2412
2413 ----
2414
2415 MC_GROUPENABLE
2416
2417 (% style="text-align:center" %)
2418 [[image:1709001201497-541.png||_mstalt="292682"]]
2419
2420
2421 The function block is axis group enabled.
2422
2423 Device used (Only a single device can be used, and device splicing and index are not supported)
2424
2425 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2426 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2427 |(% colspan="1" rowspan="6" %)MC_SAVECAMTABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2428 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2429 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2430 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2431 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2432 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2433
2434 Precautions for use of devices
2435
2436 ▪LC and HSC are signed 32-bit data types;
2437
2438 ▪T, C, D, R and SD are signed 16-bit data types.
2439
2440 Variable type used
2441
2442 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2443 |(% colspan="1" rowspan="6" %)MC_GROUPENABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2444 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2445 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2446 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2447 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2448 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2449
2450 Features
2451
2452 ▪Enable axis group to run on the Execute rising edge.
2453
2454 (% class="box infomessage" %)
2455 (((
2456 ✎Note:▪Axis group motion can only be running when enabled, otherwise an error will be reported;
2457
2458 ▪When a single axis is running, enabling this block will report an error.
2459 )))
2460
2461 Error code
2462
2463 |=**Error code**|=**Content**
2464 |4084H|Input data beyond the specifiable range
2465
2466 === **MC_GROUPDISABLE** ===
2467
2468 ----
2469
2470 MC_GROUPDISABLE
2471
2472 (% style="text-align:center" %)
2473 [[image:1709001439118-784.png||_mstalt="295594"]]
2474
2475 This function block is axis group disabled.
2476
2477 Device used (Only a single device can be used, an d device splicing and index are not supported)
2478
2479 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2480 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2481 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2482 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2483 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2484 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2485 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2486 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2487
2488 Precautions for use of devices
2489
2490 ▪LC and HSC are signed 32-bit data types;
2491
2492 ▪T, C, D, R and SD are signed 16-bit data types.
2493
2494 Variable type used
2495
2496 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2497 |(% colspan="1" rowspan="6" %)MC_GROUPDISABLE|Execute|BOOL|No|TRUE/FALSE|Enable
2498 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2499 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2500 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2501 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2502 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2503
2504 Features
2505
2506 ▪On the Execute rising edge, disable the axis group.
2507
2508 (% class="box infomessage" %)
2509 (((
2510 ✎Note:
2511
2512 ▪Single axis operation can only be executed when the group is disabled.
2513
2514 ▪When a single axis is running, disabling this block will report an error.
2515 )))
2516
2517 Error code
2518
2519 |=**Error code**|=**Content**
2520 |4084H|Input data beyond the specifiable range
2521
2522 === **MC_GROUPREDACTUALPOSITION** ===
2523
2524 ----
2525
2526 MC_GROUPREADACTUALPOSITION
2527
2528 (% style="text-align:center" %)
2529 [[image:1709001728776-330.png||_mstalt="294255"]]
2530
2531 This function block is to read the actual position of each axis from the axis group.
2532
2533 Device used (Only a single device can be used, and device splicing and index are not supported)
2534
2535 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2536 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2537 |(% colspan="1" rowspan="8" %)MC_GROUPREADA CTUALPOSITION|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2538 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2539 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2540 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2541 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2542 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2543 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2544 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2545
2546 Precautions for use of devices
2547
2548 ▪LC and HSC are signed 32-bit data types;
2549
2550 ▪T, C, D, R and SD are signed 16-bit data types.
2551
2552 Variable type used
2553
2554 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2555 |(% colspan="1" rowspan="8" %)MC_GROUPREADACTUALPOSITION|Enable|BOOL|No|TRUE/FALSE|Enable
2556 |CoordSystem|WORD|Yes|0|Coordinate system
2557 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2558 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2559 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2560 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2561 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2562 |Position|LREAL array|Yes| |Position
2563
2564 Features
2565
2566 * When Enable= true, the position of each axis of the selected axis group in the selected coordinate system is continuously returned.
2567
2568 Error code
2569
2570 |=**Error code**|=**Content**
2571 |4084H|Input data beyond the specifiable range
2572
2573 === **MC_GROUPREADACTUALVELOCITY** ===
2574
2575 ----
2576
2577 MC_GROUPREADACTUALVELOCITY
2578
2579 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2580 (((
2581 (% data-widget="image" style="text-align: center;" %)
2582 [[image:1709001989613-444.png||_mstalt="295386"]](% title="Click and drag to resize" %)​
2583
2584 (% 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"]]
2585 )))
2586
2587 This function block is to read the actual velocity of each axis from the axis group.
2588
2589 Device used (Only a single device can be used, and device splicing and index are not supported)
2590
2591 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2592 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2593 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2594 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2595 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2596 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2597 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2598 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2599 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2600 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2601 |PathVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2602
2603 Precautions for use of devices
2604
2605 ▪LC and HSC are signed 32-bit data types;
2606
2607 ▪T, C, D, R and SD are signed 16-bit data types;
2608
2609 Variable type used
2610
2611
2612 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2613 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALVELOCITY|Enable|BOOL|No|TRUE/FALSE|Enable
2614 |CoordSystem|WORD|Yes|0|Coordinate system
2615 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2616 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2617 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2618 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2619 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2620 |Velocity|LREAL array|Yes| |Velocity
2621 |PathVelocity|LREAL|Yes| |Path velocity
2622
2623 Features
2624
2625 * (((
2626 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.
2627 )))
2628
2629 Error code
2630
2631 |=**Error code**|=**Content**
2632 |4084H|Data beyond the specifiable range was input.
2633
2634 === **MC_GROUPREADERROR** ===
2635
2636 ----
2637
2638 MC_GROUPREADERROR
2639
2640 (% aria-label="image widget" _mstaria-label="181311" contenteditable="false" role="region" tabindex="-1" %)
2641 (((
2642 (% data-widget="image" style="text-align: center;" %)
2643 [[image:1709002267106-659.png||_mstalt="295204"]](% title="Click and drag to resize" %)​
2644
2645 (% 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"]]
2646 )))
2647
2648
2649 The function block is axis group to read error.
2650
2651 Device used (Only a single device can be used, and device splicing and index are not supported)
2652
2653 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2654 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2655 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2656 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2657 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2658 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2659 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2660 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2661 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2662
2663 Precautions for use of devices
2664
2665 ▪LC and HSC are signed 32-bit data types;
2666
2667 ▪T, C, D, R and SD are signed 16-bit data types;
2668
2669 Variable type used
2670
2671 |=Instruction|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2672 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2673 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2674 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2675 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2676 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2677 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2678 |GroupErrorID|DWROD|Yes| |Axis group error code
2679
2680 Features
2681
2682 ▪When Enable= true, read the axis group error status.
2683
2684 Error code
2685
2686 |=**Error code**|=**Content**
2687 |4084H|Input data beyond the specifiable range
2688
2689 === **MC_GROUPREADSTATUS** ===
2690
2691 ----
2692
2693 MC_GROUPREADSTATUS
2694
2695 (% style="text-align:center" %)
2696 [[image:1709002503132-985.png||_mstalt="293943"]]
2697
2698 This function block reads the status of the currently activated axis group.
2699
2700 Device used (Only a single device can be used, and device splicing and index are not supported)
2701
2702 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2703 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2704 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2705 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2706 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2707 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2708 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2709 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2710 |GroupErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2711
2712 Precautions for use of devices
2713
2714 ▪LC and HSC are signed 32-bit data types;
2715
2716 ▪T, C, D, R and SD are signed 16-bit data types;
2717
2718 Variable type used
2719
2720 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2721 |(% colspan="1" rowspan="7" %)MC_GROUPREADERROR|Enable|BOOL|No|TRUE/FALSE|Enable
2722 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2723 |Valid|BOOL|Yes|TRUE/FALSE|Completion flag
2724 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2725 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2726 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2727 |GroupErrorID|DWROD|Yes| |Axis group error code
2728
2729 Features
2730
2731 ▪When Enable= true, the status of the enabled axis group is continuously returned, and its status is set and marked by the output flag;
2732
2733 ▪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.
2734
2735 ▪ InPosition is set to ON when reach the target position.
2736
2737 Error code
2738
2739 |=**Error code**|=**Content**
2740 |4084H|Input data beyond the specifiable range
2741
2742 === **MC_GROUPRESET** ===
2743
2744 ----
2745
2746 MC_GROUPRESET
2747
2748 (% style="text-align:center" %)
2749 [[image:1709002711461-974.png||_mstalt="294619"]]
2750
2751
2752 The function block is axis group reset.
2753
2754 Device used (Only a single device can be used, and device splicing and index are not supported)
2755
2756 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2757 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2758 |(% colspan="1" rowspan="6" %)MC_GROUPRESET|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2759 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2760 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2761 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2762 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2763 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2764
2765 (% class="wikigeneratedid" id="HPrecautionsforuseofdevices" %)
2766 Precautions for use of devices
2767
2768 ▪LC and HSC are signed 32-bit data types;
2769
2770 ▪T, C, D, R and SD are signed 16-bit data types.
2771
2772 (% class="wikigeneratedid" id="HVariabletypeused" %)
2773 Variable type used
2774
2775 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
2776 |(% rowspan="6" %)MC_GROUPRESET|Execute|BOOL|No|TRUE/FALSE|Enable
2777 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2778 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2779 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2780 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2781 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2782
2783 Features
2784
2785 ▪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.
2786
2787 Error code
2788
2789 |=**Error code**|=**Content**
2790 |4084H|Input data beyond the specifiable range
2791
2792 === **MC_GROUPREADACTUALACCELERATION** ===
2793
2794 ----
2795
2796 MC_GROUPREADACTUALACCELERATION
2797
2798 (% style="text-align:center" %)
2799 [[image:1709002873108-663.png||_mstalt="294645"]]
2800
2801 This function block is to read the actual acceleration of each axis from the axis group.
2802
2803 Device used (Only a single device can be used, and device splicing and index are not supported)
2804
2805 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2806 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2807 |(% colspan="1" rowspan="9" %)(((
2808 MC_GROUPREADACTUALACCELERATION
2809
2810
2811 )))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2812 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2813 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2814 |Valid| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2815 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2816 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2817 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2818 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2819 |PathAcceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2820
2821 Precautions for use of devices
2822
2823 ▪LC and HSC are signed 32-bit data types;
2824
2825 ▪T, C, D, R and SD are signed 16-bit data types;
2826
2827 Variable type used
2828
2829 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2830 |(% colspan="1" rowspan="9" %)MC_GROUPREADACTUALACCELERATION|Enable|BOOL|No|TRUE/FALSE|Enable
2831 |CoordSystem|WORD|Yes|0|Coordinate system
2832 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2833 |Valid|BOOL|Yes|TRUE/FALSE|Whether the input is valid or not
2834 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2835 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2836 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2837 |Acceleration|LREAL array|Yes| |Acceleration
2838 |PathAcceleration|LREAL|Yes| |Path acceleration
2839
2840 Features
2841
2842 ▪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.
2843
2844 Error code
2845
2846 |=**Error code**|=**Content**
2847 |4084H|Data beyond the specifiable range was input.
2848
2849 == **Axis group motion Function Blocks** ==
2850
2851 ----
2852
2853 === **MC_GROUPSTOP** ===
2854
2855 ----
2856
2857 MC_GROUPSTOP
2858
2859 (% style="text-align:center" %)
2860 [[image:1709003200997-104.png||_mstalt="292578"]]
2861
2862
2863 The function block is use to stop axis group.
2864
2865 Device used (Only a single device can be used, and device splicing and index are not supported)
2866
2867 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2868 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2869 |(% colspan="1" rowspan="10" %)MC_GROUPSTOP|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2870 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2871 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2872 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2873 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2874 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2875 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2876 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2877 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2878 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2879
2880 Precautions for use of devices
2881
2882 ▪LC and HSC are signed 32-bit data types;
2883
2884 ▪T, C, D, R and SD are signed 16-bit data types;
2885
2886 Variable type used
2887
2888 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2889 |(% rowspan="10" %)MC_GROUPSTOP|Execute|BOOL|No|TRUE/FALSE|Enable
2890 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2891 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2892 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2893 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2894 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2895 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2896 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2897 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2898 |ErrorID|DWORD|Yes|-|Error code (Please check【[[8. 10 Error Code Cross-reference Table>>path:#_8.10 Error Code Cross-reference Table]]】)
2899
2900 Features
2901
2902 ▪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.
2903
2904 ▪The velocity of axis group is zero. Done is set to ON. If Execute=false, return to the normal axis group enabling status;
2905
2906 ▪Only MC_GroupDisable can be used to interrupt axis group.
2907
2908 Error code
2909
2910 |=**Error code**|=**Content**
2911 |4084H|Input data beyond the specifiable range
2912
2913 === **MC_GROUPHALT** ===
2914
2915 ----
2916
2917 MC_GROUPHALT
2918
2919 (% style="text-align:center" %)
2920 [[image:1709003451573-543.png||_mstalt="293722"]]
2921
2922 The function block is to halt axis group.
2923
2924 Device used (Only a single device can be used, and device splicing and index are not supported)
2925
2926 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2927 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2928 |(% colspan="1" rowspan="10" %)MC_GROUPHALT|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2929 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2930 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2931 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2932 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2933 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2934 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2935 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2936 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2937 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
2938
2939 Precautions for use of devices
2940
2941 ▪LC and HSC are signed 32-bit data types;
2942
2943 ▪T, C, D, R and SD are signed 16-bit data types;
2944
2945 Variable type used
2946
2947 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
2948 |(% rowspan="10" %)MC_GROUPHALT|Execute|BOOL|No|TRUE/FALSE|Enable
2949 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
2950 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk
2951 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
2952 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
2953 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
2954 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
2955 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
2956 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
2957 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
2958
2959 Features
2960
2961 ▪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;
2962
2963 ▪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.
2964
2965 Error code
2966
2967 |=**Error code**|=**Content**
2968 |4084H|Data beyond the specifiable range was input.
2969
2970 === **MC_MOVELINEARABSOLUTE** ===
2971
2972 ----
2973
2974 MC_MOVELINEARABSOLUTE
2975
2976 (% style="text-align:center" %)
2977 [[image:1709003761756-581.png||_mstalt="295724"]]
2978
2979 This function block is absolute position linear interpolation.
2980
2981 Device used (Only a single device can be used, and device splicing and index are not supported)
2982
2983 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
2984 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
2985 |(% colspan="1" rowspan="17" %)MC_MOVELINEARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2986 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
2987 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
2988 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2989 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
2990 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
2991 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
2992 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2993 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
2994 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
2995 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
2996 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2997 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2998 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
2999 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3000 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3001 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3002
3003 Precautions for use of devices
3004
3005 ▪LC and HSC are signed 32-bit data types;
3006
3007 ▪T, C, D, R and SD are signed 16-bit data types;
3008 Variable type used
3009
3010 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3011 |(% rowspan="17" %)(((
3012 MC_MOVELINEARABSOLUTE
3013 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3014 |Position|LREAL array|No|-|Position
3015 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3016 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3017 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3018 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S curve only.
3019 |CoordSystem|WORD|Yes|0|Coordinate system
3020 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3021 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3022 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3023 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3024 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3025 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3026 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3027 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3028 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3029 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3030
3031 Features
3032
3033 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3034
3035 (% class="box infomessage" %)
3036 (((
3037 ✎Note:
3038
3039 ▪The axis group can be moved only when being enabled;
3040
3041 ▪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.
3042
3043 ▪Linear motion is allowed to be interrupted;
3044
3045 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3046 )))
3047
3048 Error code
3049
3050 |=**Error code**|=**Content**
3051 |4084H|Input data beyond the specifiable range
3052
3053 (% style="text-align:center" %)
3054 [[image:1709004126151-658.png||_mstalt="294008"]]
3055
3056 === **MC_MOVELINEARRELATIVE** ===
3057
3058 ----
3059
3060 MC_MOVELINEARRELATIVE
3061
3062 (% style="text-align:center" %)
3063 [[image:1709004271451-886.png||_mstalt="295594"]]
3064
3065
3066 This function block is relative position linear interpolation.
3067
3068 Device used (Only a single device can be used, and device splicing and index are not supported)
3069
3070 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
3071 | | |**X**|**Y**|**M**|**S**|**SM**|**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**
3072 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3073 |Distance| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3074 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3075 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3076 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3077 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3078 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3079 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3080 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3081 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3082 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3083 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3084 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3085 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3086 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3087 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3088 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |(% colspan="2" %) |(% colspan="2" %)
3089
3090 Precautions for use of devices
3091
3092 ▪LC and HSC are signed 32-bit data types;
3093
3094 ▪T, C, D, R and SD are signed 16-bit data types.
3095
3096 Variable type used
3097
3098 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3099 |(% colspan="1" rowspan="17" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3100 |Distance|LREAL array|No|-|Position
3101 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3102 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3103 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3104 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk: Only the axis group S-curve is valid.
3105 |CoordSystem|WORD|Yes|-|Coordinate system
3106 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3107 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3108 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3109 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3110 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3111 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3112 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3113 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3114 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3115 |ErrorID|DWORD|Yes|-|Error code (Please check【8. 10 Error Code Cross-reference Table】)
3116
3117 Features
3118
3119 ▪This function block executes line interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3120
3121 (% class="box infomessage" %)
3122 (((
3123 ✎Note:▪The axis group can be moved only when being enabled;
3124
3125 ▪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.
3126
3127 ▪Linear motion is allowed to be interrupted;
3128
3129 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3130 )))
3131
3132 Error code
3133
3134 |=**Error code**|=**Content**
3135 |4084H|Input data beyond the specifiable range
3136
3137 (% style="text-align:center" %)
3138 [[image:1709004561796-657.png||_mstalt="297674"]]
3139
3140 === **MC_MOVECIRCULARABSOLUTE** ===
3141
3142 ----
3143
3144 MC_MOVECIRCULARABSOLUTE
3145
3146 (% style="text-align:center" %)
3147 [[image:1709004628989-926.png||_mstalt="299143"]]
3148
3149 The function block is absolute position circular interpolation.
3150
3151 Device used (Only a single device can be used, and device splicing and index are not supported)
3152
3153 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3154 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3155 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3156 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3157 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3158 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3159 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3160 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3161 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3162 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3163 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3164 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3165 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3166 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3167 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3168 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3169 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3170 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3171 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3172 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3173 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3174 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3175
3176 Precautions for use of devices
3177
3178 ▪LC and HSC are signed 32-bit data types;
3179
3180 ▪T, C, D, R and SD are signed 16-bit data types;
3181 Variable type used
3182
3183 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3184 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARABSOLUTE|Execute|BOOL|No|TRUE/FALSE|Enable
3185 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3186 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3187 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3188 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3189 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3190 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3191 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3192 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk is valid in S-curve only.
3193 |CoordSystem|WORD|Yes|0|Coordinate system
3194 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3195 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3196 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3197 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3198 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3199 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3200 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3201 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3202 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3203 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3204
3205 Features
3206
3207 ▪This function block executes linear interpolation motion, and puts the actual TCP position to the absolute position specified by a specific CoordSystem.
3208
3209 (% class="box infomessage" %)
3210 (((
3211 ✎Note**:**
3212
3213 ▪The axis group can be moved only when being enabled;
3214
3215 ▪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.
3216
3217 ▪Linear motion is allowed to be interrupted;
3218
3219 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3220 )))
3221
3222 Error code
3223
3224 |=**Error code**|=**Content**
3225 |4084H|Input data beyond the specifiable range
3226
3227 (% style="text-align:center" %)
3228 [[image:1709005028485-788.png||_mstalt="297895"]]
3229
3230 === **MC_MOVECIRCULARRELATIVE** ===
3231
3232 ----
3233
3234 MC_MOVECIRCULARRELATIVE
3235
3236 (% style="text-align:center" %)
3237 [[image:1709005280026-492.png||_mstalt="293397"]]
3238
3239 Device used (Only a single device can be used, and device splicing and index are not supported)
3240
3241 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3242 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3243 |(% colspan="1" rowspan="20" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3244 |CircMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3245 |AuxPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3246 |EndPoint| | | | | | | | | | | | | | | | | | | | | | | | | |
3247 |PathChoice| | | | | | | | | | | | | | | | | | | | | | | | | |
3248 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3249 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3250 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3251 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3252 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3253 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3254 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3255 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3256 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3257 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3258 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3259 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3260 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3261 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3262 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3263
3264 Precautions for use of devices
3265
3266 ▪LC and HSC are signed 32-bit data types;
3267
3268 ▪T, C, D, R and SD are signed 16-bit data types;
3269
3270 Variable type used
3271
3272 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3273 |(% colspan="1" rowspan="20" %)MC_MOVECIRCUlARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3274 |CircMode|WORD|No|[0 to 2]|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3275 |AuxPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on auxiliary point.
3276 |EndPoint|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on end point.
3277 |PathChoice|WORD|No|[0 to 1]|Please check [8.9.3 Arc mode description] for more details on arc path selection.
3278 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3279 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3280 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3281 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|Jerk:is valid in S-curve only.
3282 |CoordSystem|WORD|Yes|-|Coordinate system
3283 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3284 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3285 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3286 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3287 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3288 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3289 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3290 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3291 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3292 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3293
3294 Features
3295
3296 ▪This function block executes circular interpolation motion, and puts the actual TCP position to the absolute position specified by a specific coordsystem.
3297
3298 (% class="box infomessage" %)
3299 (((
3300 ✎Note:
3301
3302 ▪The axis group can be moved only when being enabled;
3303
3304 ▪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.
3305
3306 ▪Linear motion is allowed to be interrupted;
3307
3308 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3309 )))
3310
3311 Error code
3312
3313 |=**Error code**|=**Content**
3314 |4084H|Input data beyond the specifiable range
3315
3316 (% style="text-align:center" %)
3317 [[image:1709005752944-678.png||_mstalt="297869"]]
3318
3319 === **MC_MOVEDIRECTABSOLUTE** ===
3320
3321 ----
3322
3323 MC_MOVEDIRECTABSOLUTE
3324
3325 (% style="text-align:center" %)
3326 [[image:1709012205292-858.png||_mstalt="295360"]]
3327
3328 This function block is the fast positioning of absolute position.
3329
3330 Device used (Only a single device can be used, and device splicing and index are not supported)
3331
3332 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3333 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3334 |(% colspan="1" rowspan="13" %)MC_MOVECIRCULARRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3335 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
3336 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3337 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3338 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3339 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3340 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3341 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3342 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3343 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3344 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3345 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3346 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3347
3348 Precautions for use of devices
3349
3350 ▪LC and HSC are signed 32-bit data types;
3351
3352 ▪T, C, D, R and SD are signed 16-bit data types;
3353
3354 Variable type used
3355
3356 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3357 |(% colspan="1" rowspan="13" %)MC_MOVELINEARRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3358 |Position|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3359 |CoordSystem|WORD|Yes|0|Coordinate system
3360 |BufferMode|WORD|Yes|[0 to 1]|Please check [8.9.5 Mode selection description] for more details.
3361 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3362 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3363 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3364 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3365 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3366 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3367 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3368 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3369 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3370
3371 Features
3372
3373 ▪ 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;
3374
3375 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3376
3377 (% class="box infomessage" %)
3378 (((
3379 ✎Note:
3380
3381 ▪The axis group can be moved only when being enabled;
3382
3383 ▪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.
3384
3385 ▪Linear motion is allowed to be interrupted;
3386
3387 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3388
3389 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3390 )))
3391
3392 Error code
3393
3394 |=**Error code**|=**Content**
3395 |4084H|Data beyond the specifiable range was input.
3396
3397 (% style="text-align:center" %)
3398 [[image:1709012383461-841.png||_mstalt="293800"]]
3399
3400 === **MC_MOVEDIRECTRELATIVE** ===
3401
3402 ----
3403
3404 MC_MOVEDIRECTRELATIVE
3405
3406 (% style="text-align:center" %)
3407 [[image:1709012442595-305.png||_mstalt="293592"]]
3408
3409 The function block executes the fast positioning of the relative position.
3410
3411 Device used (Only a single device can be used, and device splicing and index are not supported)
3412
3413 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3414 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3415 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3416 |Distance| | | | | | | | | | | | | | | | | | | | | | | | | |
3417 |CoordSystem| | | | | | | | | | | | | | | | | | | | | | | | | |
3418 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3419 |TransitionMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3420 |TransitionParameter| | | | | | | | | | | | | | | | | | | | | | | | | |
3421 |AxesGroup| | | | | | | | | | | | | | | | | | | | | | | | | |
3422 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3423 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3424 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3425 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3426 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3427 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3428
3429 Precautions for use of devices
3430
3431 ▪LC and HSC are signed 32-bit data types;
3432
3433 ▪T, C, D, R and SD are signed 16-bit data types;
3434
3435 Variable type used
3436
3437 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3438 |(% colspan="1" rowspan="13" %)MC_MOVEDIRECTRELATIVE|Execute|BOOL|No|TRUE/FALSE|Enable
3439 |Distance|LREAL array|No|-|Please check [8.9.3 Arc mode description] for more details on arc construction mode.
3440 |CoordSystem|WORD|Yes|0|Coordinate system
3441 |BufferMode|WORD|Yes|[0 to1]|Please check [8.9.5 Mode selection description] for more details.
3442 |TransitionMode|WORD|Yes|[0 to 2]|Please check [8.9.4 Transition mode description] for more details.
3443 |TransitionParameter|LREAL|Yes|[0 to 999999999. 999999]|Please check [8.9.4 Transition mode description] for more details on transition parameter.
3444 |AxesGroup|WORD|No|[0 to 65535]|Axis group number
3445 |Done|BOOL|Yes|TRUE/FALSE|Completion flag
3446 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3447 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3448 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3449 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3450 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table])
3451
3452 Features
3453
3454 ▪ 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;
3455
3456 ▪The performance of each axis in the axis group, such as velocity, acceleration, deceleration, jerk, does not change when moving.
3457
3458 (% class="box infomessage" %)
3459 (((
3460 ✎Note:
3461
3462 ▪The axis group can be moved only when being enabled;
3463
3464 ▪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.
3465
3466 ▪Linear motion is allowed to be interrupted;
3467
3468 ▪The instruction running velocity and acceleration are associated with the minimum value of each axis associated with the axis group;
3469
3470 ▪Axis group don’t support S type curve, so acceleration is not taking effect.
3471 )))
3472
3473 Error code
3474
3475 |=**Error code**|=**Content**
3476 |4084H|Input data beyond the specifiable range
3477
3478 (% style="text-align:center" %)
3479 [[image:1709012732094-708.png||_mstalt="294580"]]
3480
3481 == **Other special FB** ==
3482
3483 ----
3484
3485 === **MC_MOVEJOG** ===
3486
3487 ----
3488
3489 MC_MOVEJOG
3490
3491 (% style="text-align:center" %)
3492 [[image:1709014222028-861.png||_mstalt="293059"]]
3493
3494 The function block makes the controlled axis execute micro motion at the set target velocity.
3495
3496 Device used (Only a single device can be used, and device splicing and index are not supported)
3497
3498 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3499 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3500 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3501 |EnableNegative|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3502 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3503 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3504 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3505 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3506 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3507 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3508 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3509 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3510
3511 Precautions for use of devices
3512
3513 ▪LC and HSC are signed 32-bit data types;
3514
3515 ▪T, C, D, R and SD are signed 16-bit data types;
3516
3517 Variable type used
3518
3519 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3520 |(% colspan="1" rowspan="10" %)MC_MOVEJOG|EnablePositive|BOOL|No|TRUE/FALSE|Positive motion
3521 |EnableNegative|BOOL|No|TRUE/FALSE|Negative motion
3522 |Velocity|LREAL|No|[0 to 999999999. 999999]|Velocity
3523 |Acceleration|LREAL|No|[0 to 999999999. 999999]|Acceleration
3524 |Deceleration|LREAL|No|[0 to 999999999. 999999]|Deceleration
3525 |Axis|WORD, AXIS_INFO_T|No|[0 to 65535]|Axis number
3526 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3527 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3528 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3529 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3530
3531 Features
3532
3533 ▪When input Enablepositive signal on the rising edge, the controlled axis executes positive motion according to the input velocity. 
3534
3535 ▪When input EnableNegative signal on the rising edge, the controlled axis executes negative motion according to the input velocity.
3536
3537 ▪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.
3538
3539 (% class="box infomessage" %)
3540 (((
3541 ✎Note:
3542
3543 ▪This function is not available when the axis does not exist.
3544
3545 ▪When EnablePositive or EnableNegative is TRUE, modifying velocity does not change the velocity at this time.
3546 )))
3547
3548 Error code
3549
3550 |=**Error code**|=**Content**
3551 |4084H|Input data beyond the specifiable range
3552
3553 (% style="text-align:center" %)
3554 [[image:1709014420505-664.png||_mstalt="293254"]]
3555
3556 === **MC_COMBINEAXES** ===
3557
3558 ----
3559
3560 MC_COMBINEAXES
3561
3562 (% style="text-align:center" %)
3563 [[image:1709014499579-362.png||_mstalt="297700"]]
3564
3565 The function block adds and subtracts the positions of the master axis and the auxiliary axis as the position of the slave axis.
3566
3567 Device used (Only a single device can be used, and device splicing and index are not supported)
3568
3569 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3570 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3571 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3572 |ConbineMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3573 |MasterReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3574 |AuxiliaryReferenceType| | | | | | | | | | | | | | | | | | | | | | | | | |
3575 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3576 |Master| | | | | | | | | | | | | | | | | | | | | | | | | |
3577 |Auxiliary| | | | | | | | | | | | | | | | | | | | | | | | | |
3578 |Slave| | | | | | | | | | | | | | | | | | | | | | | | | |
3579 |InCombiantion| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3580 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3581 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3582 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3583 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3584 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3585
3586 Precautions for use of devices
3587
3588 ▪LC and HSC are signed 32-bit data types;
3589
3590 ▪T, C, D, R and SD are signed 16-bit data types;
3591
3592 Variable type used
3593
3594 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3595 |(% colspan="1" rowspan="14" %)MC_COMBINEAXES|Execute|BOOL|No|TRUE/FALSE|Enable
3596 |ConbineMode|WORD|Yes|[0 to 1]|(((
3597 Addition and subtraction operation selection
3598
3599 0: Addition
3600
3601 1: Subtraction
3602 )))
3603 |MasterReferenceType|WORD|Yes|[1 to 2]|(((
3604 Master axis position type
3605
3606 1: Feedback position
3607
3608 2: Instruction position
3609 )))
3610 |AuxiliaryReferenceType|WORD|Yes|[1 to 2]|(((
3611 Auxiliary axis position type
3612
3613 1: Feedback position
3614
3615 2: Instruction position
3616 )))
3617 |BufferMode|LREAL|No|0|Mode selection
3618 |Master|WORD, AXIS INFO T|No|[0 to 65535]|Master axis number
3619 |Auxiliary|WORD, AXIS INFO T|No|[0 to 65535]|Auxiliary axis number
3620 |Slave|WORD, AXIS INFO T|No|[0 to 65535]|Slave axis number
3621 |InCombiantion|BOOL|Yes|TRUE/FALSE|Addition and subtraction operation flag
3622 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3623 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3624 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3625 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3626 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3627
3628 Features
3629
3630 ▪On the Execute rising edge, the addition and subtraction positioning operation is performed.
3631
3632 (% class="box infomessage" %)
3633 (((
3634 ✎Note:
3635
3636 ▪Unable to restart this instruction;
3637
3638 ▪To end this instruction, MC_construction is needed;
3639
3640 ▪This instruction does not execute in-place inspection;
3641
3642 ▪When using the instruction position, the set values of master axis number and auxiliary axis number must be less than the slave axis number;
3643
3644 ▪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;
3645
3646 ▪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.
3647 )))
3648
3649 Error code
3650
3651 |=**Error code**|=**Content**
3652 |7000OA|Axis is in a bound status.
3653 |7000OB|Axis cannot be bound at run time.
3654 |800014|The master axis is consistent with the slave axis.
3655 |800015|The master axis is consistent with the auxiliary axis.
3656 |800016|The auxiliary axis is consistent with the slave axis.
3657 |800017|Master axis (auxiliary axis) and slave axis numbers are not ascending order.
3658
3659 (% style="text-align:center" %)
3660 [[image:1709014704454-580.png||_mstalt="294047"]]
3661
3662
3663 === **MC_MOVEVELOCITY** ===
3664
3665 ----
3666
3667 MC_MOVEVELOCITY
3668
3669 (% style="text-align:center" %)
3670 [[image:1709014790717-456.png||_mstalt="296101"]]
3671
3672 Device used (Only a single device can be used, and device splicing and index are not supported)
3673
3674 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
3675 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3676 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3677 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3678 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3679 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3680 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3681 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3682 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3683 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3684 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3685 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3686 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3687 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3688 |InstructionAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3689 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3690 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3691
3692 Precautions for use of devices
3693
3694 ▪LC and HSC are signed 32-bit data types;
3695
3696 ▪T, C, D, R and SD are signed 16-bit data types;
3697
3698 Variable type used
3699
3700 |=**Instruction**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
3701 |(% colspan="1" rowspan="15" %)MC_MOVEVELOCITY|Execute|BOOL|No|TRUE/FALSE|Enable
3702 |ContinuousUpdate|BOOL|No|TRUE/FALSE|Reserve
3703 |Velocity|LREAL|No|[0 to 999999999. 999999]|The set velocity
3704 |Acceleration|LREAL|No|[0 to 999999999. 999999]|The set acceleration
3705 |Deceleration|LREAL|No|[0 to 999999999. 999999]|The set deceleration
3706 |Jerk|LREAL|Yes|[0 to 999999999. 999999]|The set jerk is only valid in the S-curve.
3707 |Direction|WORD|No|[1]|(((
3708 Direction flag
3709
3710 1: Positive direction
3711
3712 2: Negative direction
3713
3714 3: Current direction
3715
3716 4: Shortest path
3717 )))
3718 |BufferMode|WORD|Yes|[0]|Buffer mode
3719 |Axis|WORD, AXIS INFO T|No|[0 to 65535]|Axis number and axis in-built variable
3720 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag
3721 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3722 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3723 |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3724 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3725 |ErrorID|DWORD|Yes|-|Error code (Please check [8. 10 Error Code Cross-reference Table] )
3726
3727 Features
3728
3729 ▪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.
3730
3731 ▪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;
3732
3733 ▪When the velocity of the controlled axis reaches the set value of input parameter Velocity, the output parameter Invelocity is set to ON.
3734
3735 ▪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.
3736
3737 ▪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.
3738
3739 ▪If the controlled axis is not in the above status, the function block is not executed. Erroroutput is set;
3740
3741 ▪MC_MOVEVELOCITY function block can be triggered repeatedly.
3742
3743 Error code
3744
3745 |=**Error code**|=**Content**
3746 |4084H|Input data beyond the specifiable range
3747
3748 === **MC _ MOVEVELOCITY _ CSV** ===
3749
3750 MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3751
3752 [[image:1761032781939-478.png]]
3753
3754 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.
3755
3756 **Device used (only a single device can be used, device splicing and index are not supported)**
3757
3758 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3759 **Index**
3760
3761 **Modification**
3762 )))|(((
3763 **Pulse**
3764
3765 **Expansion**
3766 )))
3767 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3768 |(% rowspan="15" %)(((
3769 MC _ MOVEVELOCITY
3770
3771 _ CSV
3772 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3773 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3774 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3775 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3776 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
3777 |Jerk| | | | | | | | | | | | | | | | | | | | | | | | | |
3778 |Direction| | | | | | | | | | | | | | | | | | | | | | | | | |
3779 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3780 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3781 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3782 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3783 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3784 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3785 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3786 |Error ID| | | | | | | | | | | | | | | | | | | | | | | | | |
3787
3788 **Notes:**
3789
3790 * LC and HSC are signed 32-bit data types;
3791 * T, C, D, R and SD are signed 16-bit data types.
3792
3793 **Variable type used**
3794
3795 |**Instruction**|**Parameter**|**Variable type**|**Can it be empty**|**Range**|**Description**
3796 |(% rowspan="15" %)(((
3797 MC _ MOVE
3798
3799 VELOCITY _ CSV
3800 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3801 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Whether update continuously or not
3802 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3803 |Acceleration|LREAL|No|[0,999999999.999999]|Setting acceleration
3804 |Deceleration|LREAL|No|[0,999999999.999999]|Set deceleration
3805 |Jerk|LREAL|Yes|[0,999999999.999999]|The set jerk is only effective in S-curve.
3806 |Direction|WORD|No|[1,4]|(((
3807 Direction flag bit (Only rotation mode takes effect）。
3808
3809 ~1. Positive direction;
3810
3811 2. Negative direction;
3812
3813 3. The current direction;
3814
3815 4. The shortest path (reserved).
3816 )))
3817 |BufferMode|WORD|Yes|[0]|BufferMode
3818 |Axis|WORD|No|[0,65535]|Axis number and built-in variable of axis
3819 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3820 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3821 |Active|BOOL|Yes|TRUE/FALSE|Activity flag
3822 |Command aborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3823 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3824 |Error ID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3825
3826 **Function**
3827
3828 * 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.
3829 * 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;
3830 * 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;
3831 * 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;
3832 * The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3833
3834 **Error code**
3835
3836 |**Error code**|**Content**
3837 |4084H|Input data beyond the specifiable range
3838
3839 **Precautions**
3840
3841 * Different from the MC _ MOVEVELOCITY function block, this function block will automatically switch the servo mode to CSV (Synchronous Cycle Speed) mode;
3842 * Using this function block requires adding four object dictionaries, H60FF, H6060, H6061, and H606C, to the PDO.
3843
3844 **Timing diagram**
3845
3846
3847 (% style="text-align:center" %)
3848 [[image:1761032845559-339.png||height="306" width="520"]]
3849
3850 === **MC _ SYNCMOVEVELOCITY** ===
3851
3852 MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3853
3854 [[image:1761032974104-584.png]]
3855
3856 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.
3857
3858 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3859
3860 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
3861 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3862 |(% rowspan="8" %)(((
3863 MC _ SYNCMOVE
3864
3865 VELOCITY
3866 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3867 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3868 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3869 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3870 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3871 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3872 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3873 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3874
3875 **Notes for using devices**
3876
3877 * LC and HSC are signed 32-bit data types;
3878 * T, C, D, R and SD are signed 16-bit data types.
3879
3880 **Variable type used**
3881
3882 |**Instruction**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3883 |(% rowspan="8" %)(((
3884 MC _ SYNCMOVE
3885
3886 VELOCITY
3887 )))|Execute|BOOL|No|TRUE/FALSE|Enable
3888 |Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3889 |Axis|(((
3890 WORD
3891
3892
3893 )))|No|[0,65535]|Axis number and built-in variable of axis
3894 |InVelocity|BOOL|Yes|TRUE/FALSE|Reach the set velocity flag bit
3895 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3896 |CommandAborted|BOOL|Yes|TRUE/FALSE|Interrupt flag bit
3897 |Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
3898 |ErrorID|DWORD|Yes|-|(((
3899 Error code (Please refer to
3900
3901 [[8.11 Error Code>>path:#错误码对照表]]
3902 )))
3903
3904 **Function**
3905
3906 * 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.
3907 * 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;
3908 * 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;
3909 * 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;
3910 * The MC _ SYNCMOVEVELOCITY function block can be triggered repeatedly multiple times.
3911
3912 **✎Note:** After using MC _ SYNCMOVEVELOCITY , the servo mode is automatically switched to the synchronous cycle speed mode.
3913
3914
3915 **Error code**
3916
3917 |**Error code**|**Content**
3918 |4084H|Input data beyond the specifiable range
3919
3920 **Timing diagram**
3921
3922 (% style="text-align:center" %)
3923 [[image:1761033004563-270.png]]
3924
3925 === **MC _ SETTORQUE** ===
3926
3927 MC _ SETTORQUE-Synchronous torque instruction
3928
3929 [[image:1761033083623-162.png]]
3930
3931 **Device used (only a single device can be used, and device splicing and Index are not supported)**
3932
3933 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
3934 **Index**
3935
3936 **Modification**
3937 )))|(((
3938 **Pulse**
3939
3940 **Expansion**
3941 )))
3942 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
3943 |(% rowspan="11" %)MC _ SETTORQUE|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3944 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
3945 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
3946 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
3947 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
3948 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3949 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3950 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3951 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3952 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
3953 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
3954
3955 **Notes for using devices**
3956
3957 * LC and HSC are signed 32-bit data types;
3958 * T, C, D, R and SD are signed 16-bit data types.
3959
3960 **Variable type used**
3961
3962 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
3963 |(% rowspan="12" %)MC _ SETTORQUE|(% rowspan="6" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
3964 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
3965 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
3966 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
3967 |BufferMode|WORD|Yes|[0]|Currently only interrupts are supported
3968 |Axis|WORD|No|[0,65535]|Axis number
3969 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
3970 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
3971 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
3972 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
3973 |Error|BOOL|Yes|TRUE/FALSE|Error or not
3974 |ErrorID|DWORD|Yes|-|Error code ( Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
3975
3976 **Function**
3977
3978 * 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.
3979 * The following PDOs need to be configured in CST mode;
3980
3981 0x1600: 0x6060, 0x6071, 607f (optional), 6040
3982
3983 0x1A00: 0x6061, 0x6077, 0x6041
3984
3985 * If you use VD3E, you need to configure the startup parameter 2001: 9 value to 2;
3986 * 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;
3987 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
3988 * 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;
3989
3990 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.
3991
3992 **Note**
3993
3994 * This function block is not available when the axis does not exist.
3995
3996 === **MC _ TORQUECONTROL** ===
3997
3998 MC _ TORQUECONTROL-Torque control command
3999
4000 [[image:1761033167971-496.png||height="206" width="262"]]
4001
4002 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4003
4004 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4005 **Index**
4006
4007 **Modification**
4008 )))|(((
4009 **Pulse**
4010
4011 **Expansion**
4012 )))
4013 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4014 |(% rowspan="13" %)(((
4015 MC _ TORQUE
4016
4017 CONTROL
4018 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4019 |ContinuousUpdate|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4020 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4021 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4022 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4023 |BufferMode| | | | | | | | | | | | | | | | | | | | | | | | | |
4024 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4025 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4026 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4027 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4028 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4029 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4030 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4031
4032 **Notes for using devices**
4033
4034 * LC and HSC are signed 32-bit data types;
4035 * T, C, D, R and SD are signed 16-bit data types.
4036
4037 **Variable type used**
4038
4039 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4040 |(% rowspan="13" %)MC _ TORQUECONTROL|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4041 |ContinuousUpdate|BOOL|Yes|TRUE/FALSE|Updated during operation
4042 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%）
4043 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4044 |TorqueRamp|LREAL|No|[0,999999999.999999]|Torque slope
4045 |BufferMode|WORD|Yes|[0]|Only interrupt mode supported
4046 |Axis|WORD|No|[0,65535]|Axis number
4047 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4048 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4049 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4050 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4051 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4052 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4053
4054 **Function**
4055
4056 * 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.
4057 * The following PDOs need to be configured in CST mode:
4058
4059 0x1600: 0x6060, 0x6071, 607f (optional), 6040
4060
4061 0x1A00: 0x6061, 0x6077, 0x6041
4062
4063 * If VD3E is used, the value of startup parameter 2001:9 is 2;
4064
4065 **Function description**
4066
4067 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4068 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4069 * 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;
4070
4071 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;
4072
4073 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;
4074
4075 * Speed control in torque mode
4076
4077 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;
4078
4079 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;
4080
4081 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;
4082
4083 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4084
4085 The maximum speed of the servomotor can be limited by 0x607F;
4086
4087 0x607F can be configured into the PDO;
4088
4089 The unit of 0x607F is pulse unit, non-speed unit.
4090
4091 * Stop control on torque mode
4092
4093 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.
4094
4095 * Interrupt
4096
4097 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;
4098
4099 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4100
4101 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4102
4103 **Timing diagram**
4104
4105 After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4106
4107 (% style="text-align:center" %)
4108 [[image:1761033264625-188.png]]
4109
4110
4111 After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4112
4113 (% style="text-align:center" %)
4114 [[image:1761033334729-116.png]]
4115
4116 === **MC _ MOVEABSRELPP** ===
4117
4118 MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4119
4120 [[image:1761034254689-443.png]]
4121
4122 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4123
4124 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4125 **Pulse**
4126
4127 **Expansion**
4128 )))
4129 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4130 |(% rowspan="13" %)(((
4131 MC _ MOVEA
4132
4133 BSRELPP
4134 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4135 |Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4136 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4137 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4138 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4139 |Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4140 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4141 |Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4142 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4143 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4144 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4147
4148 **Notes for using devices**
4149
4150 * LC and HSC are signed 32-bit data types;
4151 * T, C, D, R and SD are signed 16-bit data types.
4152
4153 **Variable type used**
4154
4155 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4156 |(% rowspan="13" %)(((
4157 MC _ MOVE
4158
4159 ABSRELPP
4160 )))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4161 |Mode|INT|No|0,1|(((
4162 1: Absolute mode.
4163
4164 1: Relative mode
4165 )))
4166 |Position|LREAL|No|(((
4167 -999999999.999999
4168
4169 999999999.999999
4170 )))|Target location
4171 |Velocity|LREAL|No|（0,999999999.999999]|Velocity
4172 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4173 |Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4174 |Axis|WORD|No|[0,65535]|Axis number
4175 |(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4176 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4177 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4178 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4179 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4180 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4181
4182 **Function**
4183
4184 * 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.
4185 * Contour Position Mode requires the following PDOs:
4186
4187 0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4188
4189 0x1A00: 0x6061, 0x6064, 0x6041
4190
4191 **Function description**
4192
4193 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4194 * 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;
4195 * 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;
4196 * When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4197 * Interrupt
4198
4199 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;
4200
4201 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.
4202
4203 **Timing diagram**
4204
4205
4206 (% style="text-align:center" %)
4207 [[image:1761034304535-743.png]]
4208
4209 === **MC _ MOVEVELOCITYPV** ===
4210
4211 MC _ MOVEVELOCITYPV-Contour Speed Command
4212
4213 [[image:1761034415972-645.png]]
4214
4215 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4216
4217 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4218 **Index**
4219
4220 **Modification**
4221 )))|(((
4222 **Pulse**
4223
4224 **Expansion**
4225 )))
4226 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4227 |(% rowspan="11" %)(((
4228 MC _ MOVEVELO
4229
4230 CITYPV
4231 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4232 |Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4233 |Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4234 |Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4235 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4236 |InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4237 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4238 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4239 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4242
4243 **Notes for using devices**
4244
4245 * LC and HSC are signed 32-bit data types;
4246 * T, C, D, R and SD are signed 16-bit data types.
4247
4248 **Variable type used**
4249
4250 |**Instruction**|(((
4251 **Pin**
4252
4253 **type**
4254 )))|**Parameter**|(((
4255 **Variable**
4256
4257 **Type**
4258 )))|(((
4259 **Can you**
4260
4261 **Is empty**
4262 )))|**Range**|**Description**
4263 |(% rowspan="11" %)(((
4264 MC _ MOVEVE
4265
4266 LOCITYPV
4267 )))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4268 |Velocity|LREAL|No|(((
4269 -999999999.999999
4270
4271 999999999.999999
4272 )))|Velocity
4273 |Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4274 |Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4275 |Axis|WORD|No|[0,65535]|Axis number
4276 |(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4277 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4278 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4279 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4280 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4281 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4282
4283 **Function**
4284
4285 * 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;
4286 * This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4287 * The following PDOs are required for the profile speed mode:
4288
4289 0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4290
4291 0x1A00: 0x6061, 0x606c, 0x6041
4292
4293 **Function description**
4294
4295 * This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4296 * 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.
4297
4298 **Timing diagram**
4299
4300
4301 (% style="text-align:center" %)
4302 [[image:1761034458765-139.png]]
4303
4304 === **MC _ TORQUECONTROLPT** ===
4305
4306 MC _ TORQUECONTROLPT-Contour torque control command
4307
4308 [[image:1761034544967-630.png]]
4309
4310 **Device used (only a single device can be used, and device splicing and Index are not supported)**
4311
4312 |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4313 |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4314 |(% rowspan="11" %)(((
4315 MC _ TORQUE
4316
4317 CONTROLPT
4318 )))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4319 |TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4320 |TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4321 |MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4322 |Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4323 |InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4324 |Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4325 |Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4326 |CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 |Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328 |ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4329
4330 **Notes for using devices**
4331
4332 * LC and HSC are signed 32-bit data types;
4333 * T, C, D, R and SD are signed 16-bit data types.
4334
4335 **Variable type used**
4336
4337 |**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4338 |(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4339 |Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4340 |TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4341 |MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4342 |Axis|WORD|No|[0,65535]|Axis number
4343 |(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4344 |Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4345 |Active|BOOL|Yes|TRUE/FALSE|Valid flag
4346 |CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4347 |Error|BOOL|Yes|TRUE/FALSE|Error or not
4348 |ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4349
4350 **Function**
4351
4352 * 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;
4353 * 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;
4354 * Profile torque mode needs to be configured with the following PDOs:
4355
4356 0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4357
4358 0x1A00: 0x6061, 0x6077, 0x6041
4359
4360 **Function description**
4361
4362 * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4363 * This instruction uses the driver synchronous torque mode to realize the torque control function;
4364 * 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;
4365
4366 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;
4367
4368 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.
4369
4370 * Speed control in torque mode
4371
4372 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;
4373
4374 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;
4375
4376 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;
4377
4378 For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4379
4380 The maximum speed of the servomotor can be limited by 0x607F;
4381
4382 0x607F can be configured into the PDO;
4383
4384 The unit of 0x607F is pulse unit, non-speed unit.
4385
4386 * Stop control on torque mode
4387
4388 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.
4389
4390 * Interrupt
4391
4392 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;
4393
4394 CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4395
4396 The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4397
4398 **Timing diagram**
4399
4400 (% style="text-align:center" %)
4401 [[image:1761034615747-763.png]]
4402
4403 == **SDO instruction** ==
4404
4405 ----
4406
4407 === **MC_READSDO reads SDO data** ===
4408
4409 ----
4410
4411 MC_READSDO
4412
4413 This instruction is used to read the value of the servo object dictionary.
4414
4415 - [ MC_READSDO (S1) (S2) (S3) (D1) (S4) ]
4416
4417 Content, range and data type
4418
4419 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4420 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4421 |(S2)|Object dictionary subindex|-|Unsigned BIN16|ANY16_U
4422 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4423 |(D1)|The read device|-|Define the size according to S3.|-
4424 |(S4)|Specify the servo station number|-|Signed BIN16|ANY16_S
4425
4426 Device used
4427
4428 |=**Instruction**|=**Parameter**|=(% colspan="25" %)**Devices**|=(% colspan="2" %)**Index modification**|=**Pulse expansion**
4429 | | |**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**
4430 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4431 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4432 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4433 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | |(% colspan="2" %) |(% colspan="2" %) |
4434 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●|(% colspan="2" %) |(% colspan="2" %) |
4435
4436 Features
4437
4438 ▪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).
4439
4440 (% class="box infomessage" %)
4441 (((
4442 ✎Note:
4443
4444 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot read it.
4445 )))
4446
4447
4448 === **MC_WRITESD0 writes SDO data** ===
4449
4450 ----
4451
4452 MC_WRITESDO
4453
4454 This instruction is used to write the value of the servo object dictionary.
4455
4456 -[MCWRITESDO (S1) (S2) (S3) (S4) (S5)]
4457
4458 Content, range and data type
4459
4460 |=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (Table)**
4461 |(S1)|Object dictionary index|-|Unsigned BIN16|ANY16_U
4462 |(S2)|Object dictionary sub-index|-|Unsigned BIN16|ANY16_U
4463 |(S3)|Length (BYTE unit)|-|Unsigned BIN16|ANY16_U
4464 |(S4)|The value to be written|-|Define the size according to S3.|-
4465 |(S5)|Specify the servo station number|-|Signed BIN16|ANY16_S
4466
4467 Device used
4468
4469 |=**Instruction**|=**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
4470 | | |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4471 |(% colspan="1" rowspan="5" %)MC_READSDO|Parameter 1| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4472 |Parameter 2| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4473 |Parameter 3| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4474 |Parameter 4| | | | | | | | | | | | | | | | |●|●| |●|●| | | | |
4475 |Parameter 5| | | | | | | | | | | | | | | | |●|●| |●|●|●|●| | |
4476
4477 Features
4478
4479 ▪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).
4480
4481 (% class="box infomessage" %)
4482 (((
4483 ✎Note:
4484
4485 ▪When there is the corresponding object dictionary set in PDO, there may be a situation where SDO cannot write to it.
4486 )))
4487
4488 [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml15884\wps1.png]]
4489
4490 == **Built-in variables of pulse axis system** ==
4491
4492 The current state of the axis can be monitored in the program by its system variables.
4493
4494
4495 |**Name**|**Data type**|**Function**
4496 |Cfg|AXIS_INFO_CFG_T|Axis configuration
4497 |wAxisID|WORD|Axis number (Read only)
4498 |wVersion|WORD|Version number (Read only)
4499 |wAxisType|WORD|Axis type (Read only): Bus servo axis Bus encoder axis
4500 |nEtherCATNo|DINT|EtherCAT axis number
4501 |nLocalID|DINT|(((
4502 Local axis ID.
4503
4504 Y0/Y1 is 0;
4505
4506 Y2/Y3 is 1;
4507
4508 Y4/Y5 is 2;
4509
4510 Y6/Y7 is 3.
4511 )))
4512 |bVirtualAxis|BOOL|Virtual axis or not
4513 |Cmd|AXIS_INFO_CMD_T| Setting value
4514 |fSetPosition|LREAL|Setting position (Read only)
4515 |fSetVelocity|LREAL|Setting speed (Read only)
4516 |fSetAcceleration|LREAL|Setting acceleration (Read only)
4517 |fSetDeceleration|LREAL|Actual deceleration (Read only)
4518 |fSetJerk|LREAL|Setting jerk (Read only)
4519 |fSetTorque|LREAL|Setting torque (Read only) Reserved
4520 |nLocalAxisSetPos|DINT|Local pulse axis setting position (Read only)
4521 |Act|AXIS_INFO_ACT_T|Current value
4522 |fActPosition|LREAL|Current position (Read only)
4523 |fActVelocity|LREAL|Current speed (Read only)
4524 |fActAcceleration|LREAL|Actual acceleration (Read only)
4525 |fActDeceleration|LREAL|Actual deceleration (Read only)
4526 |fActJerk|LREAL|Actual jerk (Read only)
4527 |fActTorque|LREAL|(((
4528 Current torque (Read only)
4529
4530 Reserved
4531 )))
4532 |fFollowPos|LREAL|Following error (Read only)
4533 |nLocalAxisActPos|DINT|Local pulse axis current position (Read only)
4534 |nLocalAxisActFrequency|DINT|Local pulse axis current frequency (Read only)
4535 |Status|AXIS_INFO_STATUS_T|Axis status
4536 |wAxisState|WORD|Axis status (Read only)
4537
4538 |**Name**|**Data type**|**Function**
4539 |wAxisError|DWORD|Axis error code (Read only)
4540 |wMotionState|WORD|Motion status (Read only)
4541 |bPowerState|BOOL|Axis enabled status (Read only)
4542 |bphLimit|BOOL|Hardware positive limit (Read only)
4543 |bnhLimit|BOOL|Hardware reverse limit (Read only)
4544 |bHomeState|BOOL|Homing limit (Read only)
4545 |bPsLimit|BOOL|Software positive limit (Read only)
4546 |bnsLimit|BOOL|Software reverse limit (Read only)
4547 |bTarDir|BOOL|Direction of motion (Read only)
4548 |Dbg|AXIS_DEBUG_T|Axis debugging information
4549 |bAxisDebug|BOOL|Axis debugging switch
4550 |bPower|BOOL|Axis enable
4551 |bStop|BOOL|Axis stop
4552 |bReset|BOOL|Axis reset
4553 |bJogP|BOOL|JOG+
4554 |bJopN|BOOL|JOG-
4555 |bHome|BOOL|Homing
4556 |bSetPos|BOOL|Set the current position
4557 |bAbsPos|BOOL|Absolute positioning
4558 |bRevPos|BOOL|Reciprocating motion:
4559 |bRelPos|BOOL|Relative positioning
4560 |bVelocity|BOOL|Continuous motion
4561 |bTorque|BOOL|(((
4562 Torque Mode
4563
4564 Reserved
4565 )))
4566 |fPresetPosition|LREAL|Preset position
4567 |fJogVelocity|LREAL|JOG speed
4568 |fPositionOffser|LREAL|Homing mode offset
4569 |fTarPosition|LREAL|Target position
4570 |fTarVelocity|LREAL|Target velocity
4571 |fTarAcceleration|LREAL|Target acceleration
4572 |fTarDeceleration|LREAL|Target deceleration
4573 |fTarJerk|LREAL|Target jerk
4574 |fTarPosition2|LREAL|Target position 2
4575
4576 |**Name**|**Data type**|**Function**
4577 |fTarVelocity2|LREAL|Target speed 2
4578 |fTarAcceleration2|LREAL|Target jerk 2
4579 |fTarDeceleration2|LREAL|Target deceleration 2
4580 |fTarJerk2|LREAL|Target jerk 2
4581 |fTarTorque|LREAL|(((
4582 Target torque
4583
4584 Reserved
4585 )))
4586 |fTarTorqueSlop|LREAL|(((
4587 Torque ramp
4588
4589 Reserved
4590 )))
4591 |fLimitVelocity|LREAL|(((
4592 Limit the speed.
4593
4594 Reserved
4595 )))
4596 |Pdo|AXIS_INFO_PDO_T|PDO information
4597 |wControlWord|WORD|Control word
4598 |wStatusWord|WORD|Status word
4599 |nSetPosition|DINT|Setting position
4600 |nActPosition|DINT|Current position
4601 |nSetVelocity|DINT|Setting speed
4602 |nActVelocity|DINT|Current speed
4603 |nSetTorque|DINT|(((
4604 Setting torque (Read only)
4605
4606 Reserved
4607 )))
4608 |nActTorque|DINT|(((
4609 Current torque
4610
4611 Reserved
4612 )))
4613 |nDO|DINT|(((
4614 Digital output
4615
4616 Reserved
4617 )))
4618 |nDI|DINT|(((
4619 Digital input
4620
4621 Reserved
4622 )))
4623 |wModesOfPperation|WORD|Control mode
4624 |wModesOfPperationDisplay|WORD|Current control mode
4625 |wTouchFunction|WORD|Touch probe function settings
4626 |wTouchStaus|WORD|Probe touch status
4627 |nTouch1PPos|DINT|Rising edge position of touch probe 1
4628 |nTouch1NPos|DINT|Falling edge position of touch probe 1
4629 |nTouch2PPos|DINT|Rising edge position of touch probe 2
4630 |nTouch2NPos|DINT|Falling edge position of touch probe 2
4631 |nMaxVelocity|DINT|(((
4632 Maximum velocity
4633
4634 Reserved
4635 )))
4636 |pParam|AXIS_MODEPARAM_INFO_T|Parameter information
4637 |nEncoderMode|BYTE|Encoder model.
4638
4639 |**Name**|**Data type**|**Function**
4640 | | |(((
4641 0: Incremental mode
4642
4643 1: Absolute mode.
4644 )))
4645 |nModeSet|BYTE|(((
4646 Mode settings.
4647
4648 0: Linear mode
4649
4650 1: Rotation mode.
4651 )))
4652 |dRotatePeriod|LREAL|Rotation cycle
4653 |nSpeedADType|BYTE|(((
4654 Speed acceleration and deceleration type.
4655
4656 0: Default mode;
4657
4658 1: T-curve;
4659
4660 2: S-curve.
4661 )))
4662 |bEnSwLimit|BOOL|Whether to enable software limit
4663 |dSwPLimit|LREAL|Positive limit unit
4664 |dSwNLimit|LREAL|Reverse limit unit
4665 |dFollowThreShold|LREAL|Following error threshold Unit
4666 |dAxisMaxSpeed|LREAL|Axis maximum velocity unit/s
4667 |dAxisMaxASpeed|LREAL|Axis maximum acceleration unit/s^2
4668 |dAxisMaxJogSpeed|LREAL|Axis Jog Maximum Speed Unit/s
4669 |nPMaxTorque|DINT|Positive torque maximum*0.1%
4670 |nNMaxTorque|DINT|Negative torque maximum*0.1%
4671 |bNoInErrorStop|BOOL|(((
4672 Don’t enter ErrorStop after hitting the limit
4673
4674 status.
4675
4676 Reserved
4677 )))
4678 |bHdPLimit|BOOL|(((
4679 Hardware positive limit
4680
4681 0: Positive logic;
4682
4683 1: Negative logic;
4684
4685 Reserved: Not in use yet.
4686 )))
4687 |bHdNLimit|BOOL|(((
4688 Hardware reverse limit (Read-only)
4689
4690 0: Positive logic;
4691
4692 1: Negative logic;
4693
4694 Reserved: Not in use yet.
4695 )))
4696 |bEnProbe1|BOOL|(((
4697 Touch probe 1 enable
4698
4699 Reserved
4700 )))
4701 |bEnProbe2|BOOL|(((
4702 Touch probe 2 enable
4703
4704 Reserved
4705 )))
4706 |sProbe1|ARRAY[O..5] OF BYTE|Touch probe 1, X0 to X7.
4707 |sProbe2|ARRAY[O..5] OF BYTE|Touch probe 2, X0 to X7.
4708 |nOutputWay|DWORD|(((
4709 Output mode
4710
4711 0: Pulse+Direction; 1: CW/CCW.
4712 )))
4713 |nCounterMode|DWORD|(((
4714 Counting mode
4715
4716 0: A/B phase 1 times frequency;
4717 )))
4718
4719 |(% style="width:187px" %)**Name**|(% style="width:215px" %)**Data type**|(% style="width:361px" %)**Function**
4720 |(% style="width:187px" %) |(% style="width:215px" %) |(% style="width:361px" %)(((
4721 1: A/B phase 2 times frequency;
4722
4723 2: A/B phase 4 times frequency;
4724
4725 3: CW/CCW;
4726
4727 4: Pulse+Direction;
4728
4729 5: Single phase count.
4730 )))
4731 |(% style="width:187px" %)(((
4732
4733
4734
4735 nSignalSource
4736 )))|(% style="width:215px" %)(((
4737
4738
4739
4740 DWORD
4741 )))|(% style="width:361px" %)(((
4742 Signal source
4743
4744 0: X0-Phase A;
4745
4746 1: X1-Phase B;
4747
4748 2: X2-Phase A;
4749
4750 3: X3-Phase B.
4751 )))
4752 |(% style="width:187px" %)bEnPreSet|(% style="width:215px" %)BOOL|(% style="width:361px" %)Preset enable
4753 |(% style="width:187px" %)sInputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Input terminal
4754 |(% style="width:187px" %)bEnCmpOutput|(% style="width:215px" %)BOOL|(% style="width:361px" %)Compare output enable
4755 |(% style="width:187px" %)dPulseWidth|(% style="width:215px" %)LREAL|(% style="width:361px" %)Pulse width
4756 |(% style="width:187px" %)sOutputTermial|(% style="width:215px" %)ARRAY[O..5] OF BYTE|(% style="width:361px" %)Output terminal
4757 |(% style="width:187px" %)sCmpOutputUnit|(% style="width:215px" %)ARRAY[O..4] OF BYTE|(% style="width:361px" %)Compare output units ms/Unit
4758 |(% style="width:187px" %)nFiltTime10ns|(% style="width:215px" %)DINT|(% style="width:361px" %)Filtering time design 10us unit
4759 |(% style="width:187px" %)nFreqFilterTime|(% style="width:215px" %)DINT|(% style="width:361px" %)Velocity filtering time constant
4760 |(% style="width:187px" %)pOrigin|(% style="width:215px" %)AXIS_ORIGINRET_INFO_T|(% style="width:361px" %)Homing information
4761 |(% style="width:187px" %)nOriginSignal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4762 Homing signal
4763
4764 0: Not assigned;
4765
4766 1: Not used;
4767
4768 2: In use.
4769 )))
4770 |(% style="width:187px" %)nZSingal|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4771 Z signal.
4772
4773 0: Not assigned;
4774
4775 1: Not used;
4776
4777 2: In use.
4778 )))
4779 |(% style="width:187px" %)nPLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4780 Positive limit
4781
4782 0: Not assigned;
4783
4784 1: Not used;
4785
4786 2: In use.
4787 )))
4788 |(% style="width:187px" %)nNLimit|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4789 Negative limit
4790
4791 0: Not assigned;
4792
4793 1: Not used;
4794
4795 2: In use.
4796 )))
4797 |(% style="width:187px" %)nDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4798 Homing direction:
4799
4800 0: Not assigned;
4801
4802 1: Forward;
4803
4804 2: Reverse
4805 )))
4806 |(% style="width:187px" %)nInputCheckDirection|(% style="width:215px" %)BYTE|(% style="width:361px" %)(((
4807 Enter the detection direction.
4808
4809 0: Not assigned;
4810 )))
4811
4812 |**Name**|**Data type**|**Function**
4813 | | |(((
4814 0: Positive
4815
4816 2: Reverse
4817 )))
4818 |nReturnList|BYTE|Homing list Homing mode 1 to 35
4819 |(((
4820
4821
4822 nReturnZero
4823 )))|(((
4824
4825
4826 BYTE
4827 )))|(((
4828 Homing mode
4829
4830 0: Absolute homing 1: Relative homing.
4831 )))
4832 |dReturnSpeed|LREAL|Homing speed Unit/s
4833 |dReturnAccelerate|LREAL|Homing acceleration Uint/s^2
4834 |dReturnNearSpeed|LREAL|Homing approach velocity Unit/s
4835 |nReturnTimeOut|DINT|Homing overtime time ms
4836 |bEnPLimit|BOOL|Positive limit enables
4837 |bEnNLimit|BOOL|Negative limit enable
4838 |bEnSignalLimit|BOOL|Homing signal enable
4839 |sPLimitAddr|ARRAY[O..5] OF BYTE|(((
4840 Positive limit address X0~~X1023.
4841
4842 (The local pulse axis currently only supports hardware limit X0-X7)
4843 )))
4844 |sNLimitAddr|ARRAY[O..5] OF BYTE|(((
4845 Reverse limit address X0~~X1023.
4846
4847 (The local pulse axis currently only supports hardware limit X0-X7)
4848 )))
4849 |sSignalLimitAddr|ARRAY[O..5] OF BYTE|(((
4850 Homing signal address X0 to X1023
4851
4852 (The local pulse axis currently only supports hardware limit X0-X7)
4853 )))
4854 |nPLimitLogic|BOOL|(((
4855 Forward limit logic
4856
4857 0: Forward logic;
4858
4859 1: Reverse logic.
4860 )))
4861 |nNLimitLogic|BOOL|(((
4862 Negative limit logic.
4863
4864 0: Positive logic;
4865
4866 1: Negative logic.
4867 )))
4868 |nSignalLogic|BOOL|(((
4869 Homing signal logic
4870
4871 0: Positive logic;
4872
4873 1: Negative logic.
4874 )))
4875 |pUnit|AXIS_UNITCONV_INFO_T|Unit information
4876 |bReverse|BOOL|Reverse or not
4877 |bEnGearBox|BOOL|Enable gearbox
4878 |nRotatePulseNum|DINT|The number of pulses for one revolution of the motor/encoder
4879 |dRotateMoveAmount1|LREAL|Movement amount 1 in one rotation
4880 |dRotateMoveAmount2|LREAL|Movement amount 2 in one rotation
4881 |nGearRatioM|INT|Gear ratio molecule
4882 |nGearRatioD|INT|Gear ratio denominator
4883
4884 == **Others** ==
4885
4886 ----
4887
4888 === **Single axis motion control status diagram** ===
4889
4890 ----
4891
4892 (% style="text-align:center" %)
4893 [[image:1709016272018-406.png||height="669" width="631"]]
4894
4895 === **Axis group motion control status diagram** ===
4896
4897 ----
4898
4899 (% style="text-align:center" %)
4900 [[image:1709016323709-202.png]]
4901
4902
4903 === **Arc mode description** ===
4904
4905 ----
4906
4907 |=**Mode**|=**Border (CircMode=0)**|=**Circle center (Circmode=1)**|=**Diameter (CircMode=2)**
4908 |(((
4909
4910
4911
4912 Features
4913 )))|(((
4914 The arc path consists of the starting point, auxiliary points, and ending point.
4915 )))|(((
4916
4917
4918 The arc path consists of the starting point, the center point, and theending point.
4919
4920
4921
4922 )))|(((
4923 The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4924
4925 The direction of the vector determines the direction of CW and CCW circles.
4926
4927 The vector length is the radius of the arc.
4928 )))
4929 |(((
4930
4931
4932
4933 Description
4934 )))|[[image:1709016369357-809.png]]|[[image:1709016369360-366.png]]|[[image:1709016369361-660.png]]
4935 |Auxpoint|Arc path point|Center point of arc|Normal vector of the plane where the space arc lies
4936 |(((
4937
4938
4939 Path choice
4940 )))|Invalid|(((
4941 CW and CCW circles
4942
4943 CCW mode
4944
4945 CW mode
4946 )))|(((
4947 Major and minor arcs
4948
4949 1: Minor arc
4950
4951 0: Major arc
4952 )))
4953 |Characteristics|Restriction of angle less than 2π for single instruction|Restriction of angle less than 2π and nor equal to π for single instruction|(((
4954 Restriction of angle less than 2π for single instruction
4955
4956 The vector perpendicular to the circular plane must be calculated.
4957 )))
4958
4959 === **Transition mode description** ===
4960
4961 ----
4962
4963 Detailed explanation of transition mode: Transition parameters are additional parameters of transition modes, which take effect according to different transition modes.
4964
4965 |=**TransitionMode**|=**0 (No buffer mode)**|=**1 (Largest velocity to buffer)**|=**2 (Specified velocity buffer)**
4966 |TransitionParameter|Invalid|Invalid|Specified velocity
4967
4968 === **Mode selection instructions** ===
4969
4970 ----
4971
4972 [[image:1709016491129-791.png]]
4973
4974 (% style="width:659px" %)
4975 |=(% style="width: 656px;" %)**Caution**
4976 |(% style="width:656px" %)(((
4977 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;
4978
4979 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.
4980
4981 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!
4982 )))
4983
4984 (1) mcAborting
4985
4986 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.
4987
4988 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.
4989
4990 The following figure illustrates the function connection of the front and back function block instances in mcAborting.
4991
4992 Figure8-1
4993
4994 (% style="text-align:center" %)
4995 [[image:1709016579583-740.png]]
4996
4997
4998 As shown in Figure 8-1, the previous and next motion control function blocks are MC_MoveAbsolute, and both adopt mcAborting.
4999
5000 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.
5001
5002 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.
5003
5004 Then the output Done 1 is set, and Busy 1 and Active 1 are reset.
5005
5006 Axis position is 1000u.
5007
5008 Figure8-2 The sequence diagram of normal working condition and mcAborting
5009
5010 (% style="text-align:center" %)
5011 [[image:1709016808830-880.png]]
5012
5013
5014 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.
5015
5016 Since the absolute position has been reached, output Done_2 is set and Busy_2 and Active_2 are reset. Axis position is 2000u.
5017
5018 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.
5019
5020 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.
5021
5022 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.
5023
5024 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.
5025
5026 This buffer mode is called mcAborting.
5027
5028 (2) mcBuffered
5029
5030 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.
5031
5032 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.
5033
5034 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.
5035
5036 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.
5037
5038 Figure8-3 Connections in mcBuffered
5039
5040 (% style="text-align:center" %)
5041 [[image:1709016841335-589.png]]
5042
5043 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.
5044
5045 and Done_1 is set, the work of the next function block will start immediately.
5046
5047 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.
5048
5049 Figure 8-4
5050
5051 (% style="text-align:center" %)
5052 [[image:1709016882878-958.png]]
5053
5054 mcBlending
5055
5056 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.
5057
5058 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.
5059
5060 Therefore, the mcBlending is divided into four types.
5061
5062 (1) mcBlendingLow.
5063
5064 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.
5065
5066 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.
5067
5068 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.
5069
5070 Figure 8-5 shows the connection diagram of three motion blocks, and the mode of latter two function blocks are set to be mcBlendingLow.
5071
5072 Figure 8-5 The connection of mcBlendingLow
5073
5074 (% style="text-align:center" %)
5075 [[image:1709016915405-788.png]]
5076
5077
5078 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.
5079
5080 Therefore, FB1 adopts the minimum velocity after blending FB1 and FB2, namely, the set velocity of FB2 of 50u/s.
5081
5082 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.
5083
5084 FB2 immediately controls the axis to move at a constant velocity of 50u/s, and the axis is moving to specified position of 2000u.
5085
5086 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.
5087
5088 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.
5089
5090 Figure 8-6 The sequence diagram of mcBlendingLow
5091
5092 (% style="text-align:center" %)
5093 [[image:1709016951924-811.png||alt="Figure 8-6 The sequence diagram of mcBlendingLow"]]
5094
5095 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.
5096
5097 The aforesaid mcBlendingLow adopts the set velocity of the two function blocks (whichever is lower).
5098
5099 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.
5100
5101 mcBlendingPrevious
5102
5103 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.
5104
5105 Figure 8-7 shows the timing diagram of the mcBlendingPrevious.
5106
5107 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.
5108
5109 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.
5110
5111 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.
5112
5113 Figure 8-7 Sequence diagram of mcBlendingPrevious
5114
5115 (% style="text-align:center" %)
5116 [[image:1709017101626-838.png]]
5117
5118 mcBlendingNext
5119
5120 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.
5121
5122 Figure 8-8 shows the timing diagram of the mcBlendingNext.
5123
5124 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,
5125
5126 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.
5127
5128 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.
5129
5130 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.
5131
5132 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.
5133
5134 == **Error Code Cross-reference Table** ==
5135
5136 ----
5137
5138 |=**Error Code**|=**Error Definition**|=**Interpretation**
5139 |(% colspan="3" %)**Normal**
5140 |0x00|MC_ERROR_ID_SUCCESS|No error
5141 |(% colspan="3" %)**Run-time error**
5142 |0x00200000|MC_ERROR_ID_SCURVE_NOTFEASIBLE|(((
5143 Not feasible to compute
5144
5145 S-curve
5146 )))
5147 |0x00200001|MC_ERROR_ID_SCURVE_MAXVEL_NOTREACHED|Not reach maximum velocity
5148 |0x00200002|MC_ERROR_ID_SCURVE_MAXACC_NOTREACHED|Not reach maximum acceleration
5149 |0x00200003|MC_ERROR_ID_SCURVE_FINDMAXACC_FAILED|Fail to find maximum velocity
5150 |0x00200004|MC_ERROR_ID_SCURVE_INVALIDINPUT|Invalid constraint for S-curve planning
5151 |(% colspan="3" %)**PLCOpen State-machine error**
5152 |0x00300000|MC_ERROR_ID_AXIS_STATE_VIOLATION|Invalid axis state violation
5153 |0x00300001|MC_ERROR_ID_POWER_ON_OFF_FROM_ERROR_STOP|Try to power on the servo at ErrorStop
5154 |0x00300002|MC_ERROR_ID_INVALID_STATE_FROM_STOPPING|Invalid state transition at Stopping
5155 |0x00300003|MC_ERROR_ID_INVALID_STATE_FROM_ERROR_STOP|Invalid state transition at ErrorStop
5156 |0x00300004|MC_ERROR_ID_INVALID_STATE_FROM_DISABLED|Invalid state transition at Disabled
5157 |0x00300005|MC_ERROR_ID_INVALID_STATE_FROM_POWERED|Invalid state transition at Powered
5158 |0x00300006|MC_ERROR_ID_INVALID_STATE_FROM_SYNC|Invalid state transition at Sync
5159 |0x00300007|MC_ERROR_ID_INVALID_STATE_NOT_HOME|Invalid state transition when not home
5160 |0x00300008|MC_ERROR_ID_INVALID_STATE_TO_DISABLED|Invalid state transition to Disabled
5161 |0x00300009|MC_ERROR_ID_INVALID_STATE_TO_ERRORSTOP|Invalid state transition to ErrorStop
5162 |0x0030000A|MC_ERROR_ID_INVALID_STATE_TO_STANDSTILL|Invalid state transition to StandStill
5163 |0x0030000B|MC_ERROR_ID_INVALID_STATE_TO_HOMING|Invalid state transition to Homing
5164 |0x0030000C|MC_ERROR_ID_INVALID_STATE_TO_STOPPING|Invalid state transition to Stoppping
5165 |0x0030000D|MC_ERROR_ID_INVALID_STATE_TO_DISCRETE|Invalid state transition to DiscreteMotion
5166 |0x0030000E|MC_ERROR_ID_INVALID_STATE_TO_SYNC|Invalid state transition to SynchronizedMotion
5167 |0x0030000F|MC_ERROR_ID_INVALID_STATE_TO_CONTINUOUS|Invalid state transition to ContinuousMotion
5168 |(% colspan="3" %)**Error due to user/system limitations**
5169 |0x00400000|MC_ERROR_ID_MOTION_LIMIT_ERROR|Velocity, acceleration or position over limit
5170 |0x00400001|MC_ERROR_ID_INVALID_DIRECTION_POSITIVE|No positive direction motion allowed
5171 |0x00400002|MC_ERROR_ID_INVALID_DIRECTION_NEGATIVE|No negative direction motion allowed
5172 |0x00400003|MC_ERROR_ID_VELOCITY_OVER_LIMIT|Velocity over limit
5173 |0x00400004|MC_ERROR_ID_ACCELERATION_OVER_LIMIT|Acceleration over limit
5174 |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5175 |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5176 |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5177 |0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5178 |(% colspan="3" %)**Error Stop**
5179 |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5180 |(% colspan="3" %)**Error from servo**
5181 |0x00600000|MC_ERROR_ID_AXIS_ERROR_STOP|Servo has no error
5182 |0x00600001|MC_ERROR_ID_SERVO_FIELDBUS_INIT_ERROR|Servo fieldbus initialize error
5183 |0x00600002|MC_ERROR_ID_SERVO_POWER_ERROR|Servo power error
5184 |0x00600003|MC_ERROR_ID_SERVO_POWERING_ON_ERROR|Servo has error during powering on
5185 |0x00600004|MC_ERROR_ID_SERVO_ERROR_WHEN_POWERED_ON|Servo has error after powered on
5186 |0x00600005|MC_ERROR_ID_SERVO_POWERING_OFF_ERROR|Servo has error during powering off
5187 |0x00600006|MC_ERROR_ID_SERVO_PDO_NOT_MAP|Servo PDO not map
5188 |0x00600007|MC_ERROR_ID_SERVO_PDO_READ_ERROR|Servo PDO read error
5189 |0x00600008|MC_ERROR_ID_SERVO_PDO_WRITE_ERROR|Servo PDO write error
5190 |0x00600009|MC_ERROR_ID_SERVO_POWER_OFF|Servo can’t run in power off
5191 |0x0060000A|MC_ERROR_ID_SERVO_ERROR_HOME_STATE|Servo has error when homing state
5192 |0x0060000B|MC_ERROR_ID_SERVO_HOME_MODE_SWITCH|Servo mode switch error
5193 |0x0060000C|MC_ERROR_ID_SERVO_HOME_CTRLWORD|Servo set homing mode error
5194 |0x0060000D|MC_ERROR_ID_SERVO_HOME|Servo homing error
5195 |0x0060000E|MC_ERROR_ID_SERVO_PDO_READ_BUSY|Servo PDO read busy
5196 |0x0060000F|MC_ERROR_ID_SERVO_TOUCHPROBE_NOTFIND|Fail to find Servo TouchProbe
5197 |0x00600010|MC_ERROR_ID_SERVO_PARAREAD|Read Servo parameter error
5198 |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5199 |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5200 |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5201 |0x00600014|(((
5202 MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5203
5204 OVER_LIMIT
5205 )))|Pulse shaft HOME Velocity over limit
5206 |0x00600015|(((
5207 MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5208
5209 OVER_LIMIT
5210 )))|Pulse shaft HOME Acceleration over limit
5211 |0x00600020|(((
5212 MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5213
5214 NOTMAP
5215 )))|(((
5216 There is no required PDO for the mode
5217
5218 corresponding to mode switching.
5219 )))
5220 |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5221 |(% colspan="3" %)**Axis’s error**
5222 |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
5223 |0x00700001|MC_ERROR_ID_AXIS_ADD_QUEUE_ERROR|Axis’ add error
5224 |0x00700002|MC_ERROR_ID_AXIS_IS_UNHEALTHY|Axis is unhealthy
5225 |0x00700003|MC_ERROR_ID_AXIS_IS_OVER_LIMIT|Axis's motion instruction is over limit
5226 |0x00700004|MC_ERROR_ID_AXIS_FALLINGEDGE_ERROR|Axis error when on the falling edge
5227 |0x00700005|MC_ERROR_ID_AXIS_NOTFIND|Not find the axis
5228 |0x00700006|MC_ERROR_ID_AXIS_IS_INGROUP|Axis is in Group
5229 |0x00700007|MC_ERROR_ID_AXIS_CAN_NOT_SETPOS|Axis cannot be set position in current state
5230 |0x00700008|MC_ERROR_ID_AXIS_NOT_POWER|Axis does not power on yet
5231 |0x00700009|MC_ERROR_ID_AXIS_NOT_SUPPORTED_TOUCH|Not support the bound touch probe number
5232 |0x0070000A|MC_ERROR_ID_AXIS_IS_COMBINED|Axis is combined
5233 |0x0070000B|(((
5234 MC_ERROR_ID_AXIS_CAN_NOT_COMBINE_WHILE_RU
5235
5236 N
5237 )))|(((
5238 Axis can't combine while
5239
5240 running
5241 )))
5242 |0x0070000C|MC_ERROR_ID_AXIS_GROUP_NOTFIND|Not find axis group number
5243 |(% colspan="3" %)**General FB error**
5244 |0x00800000|MC_ERROR_ID_FB_GENERAL_ERROR|User's FB run error
5245 |0x00800001|MC_ERROR_ID_FB_READ_PARAM_ERROR|User's FB read error
5246 |0x00800002|MC_ERROR_ID_FB_STOP_ERROR|User's FB stop error
5247 |0x00800003|MC_ERROR_ID_FB_NOT_BIND_AXIS|User's FB does not bind the logic axis
5248 |0x00800004|MC_ERROR_ID_FB_NOT_SET_PARAMETER_ID|User's FB dose not set the read parameter
5249 |0x00800005|MC_ERROR_ID_FB_NOT_IN_QUEUE|User's FB has already done and can't update
5250 |0x00800006|MC_ERROR_ID_FB_PARAMETER_ERROR|User's FB parameter error
5251 |0x00800007|MC_ERROR_ID_FB_PLAN_FAILED|User's FB error due to parameter when executing planning
5252 |0x00800008|MC_ERROR_ID_FB_REPLACE_AXIS_IN_RUN|User's FB replace axis in running
5253 |0x00800009|MC_ERROR_ID_FB_HALTSUPERIMPOSED_ERROR|Stop virtual superimposed error
5254 |0x0080000A|MC_ERROR_ID_FB_NOT_BIND_AXIS_GROUP|User's FB isn't binding axis in axis group
5255 |0x0080000B|MC_ERROR_ID_FB_BIND_AXIS_IS_ERROR|The bound axis has error
5256 |0x0080000C|MC_ERROR_ID_FB_MINE_AXIS_IS_ERROR|Fb’s planning axis has error
5257 |0x0080000D|MC_ERROR_ID_FB_NOT_BIND_MASTER|FB does not bind master axis
5258 |0x0080000E|MC_ERROR_ID_FB_NOT_BIND_SLAVE|FB does not bind slave axis
5259 |0x0080000F|MC_ERROR_ID_FB_CAN_NOT_BIND_ENCODERAXIS|FB can't bind encoder axis
5260 |0x00800010|MC_ERROR_ID_FB_NOT_BIND_TRIGGER_INFO|FB does not bind trigger information
5261 |0x00800011|MC_ERROR_ID_FB_NOT_SUPPORTED_TRINUM|Bound trigger number is not supported
5262 |0x00800012|MC_ERROR_ID_FB_CAN_NOT_CHANGE_WHILE_RUN|FB’ bound parameter cannot change at running
5263 |0x00800013|MC_ERROR_ID_FB_RANGE_SET_ERROR|FB parameter range has error. Maximum value may be less than minimum value.
5264 |0x00800014|MC_ERROR_ID_FB_MASTER_SLAVE_ARE_SAME|FB master and slave axis are consistent
5265 |0x00800015|MC_ERROR_ID_FB_MASTER_AUXILIARY_ARE_SAME|FB master and auxiliary axis are consistent
5266 |0x00800016|MC_ERROR_ID_FB_AUXILIARY_SLAVE_ARE_SAME|FB auxiliary and slave axis are consistent
5267 |0x00800017|MC_ERROR_ID_FB_MASTER_SLAVE_NOT_ASCENDING|FB master and slave id are not in ascending order
5268 |(% colspan="3" %)**General axis group error**
5269 |0x00900000|MC_ERROR_ID_AXIS_GROUP_GENERAL_ERROR|Group general error
5270 |0x00900001|MC_ERROR_ID_AXIS_GROUP_ADD_QUEUE_ERROR|Group fb add error
5271 |0x00900002|MC_ERROR_ID_AXIS_GROUP_REMOVE_ERROR|Group remove logic axis error
5272 |0x00900003|MC_ERROR_ID_AXIS_GROUP_ENABLE_ERROR|Group enable error
5273 |0x00900004|MC_ERROR_ID_AXIS_GROUP_DISABLE_ERROR|Group disable error
5274 |0x00900005|MC_ERROR_ID_AXIS_GROUP_STOP_ERROR|Group stop error
5275 |0x00900006|MC_ERROR_ID_AXIS_GROUP_AXIS_INSINGLEMOVE|Group is to run, but axis is in single axis controlled
5276 |0x00900007|MC_ERROR_ID_AXIS_GROUP_AXIS_INGROUPMOVE|Axis is bound in axis group
5277 |0x00900008|MC_ERROR_ID_AXIS_GROUP_IS_UNHEALTHY|Group's any axis is error or any error in group
5278 |0x00900009|MC_ERROR_ID_AXIS_GROUP_CAN_NOT_SETPOT|Group can't set position
5279 |0x0090000A|MC_ERROR_ID_AXIS_GROUP_INVALID_STATE_TRANS|Group is to switch to the unallowed state
5280 |0x0090000B|MC_ERROR_ID_AXIS_GROUP_NOT_BIND_AXIS|Group does not bind axis
5281 |0x0090000C|MC_ERROR_ID_AXIS_GROUP_IS_DISABLED|Group is disabled
5282 |(% colspan="3" %)**Single axis planner error**
5283 |0x00A00000|MC_ERROR_ID_PLANNER_DIST_IS_ZERO|Planner position is 0
5284 |0x00A00001|MC_ERROR_ID_PLANNER_SPPED_IS_ZERO|Planner velocity is 0
5285 |0x00A00002|MC_ERROR_ID_PLANNER_ACC_DES_IS_ZERO|Planner acceleration is 0
5286 |0x00A00003|MC_ERROR_ID_PLANNER_JERK_IS_ZERO|Group general error
5287 |0x00A00004|MC_ERROR_ID_PLANNER_CURRENT_DIFF_LAST|Planner synchronization error, current position is inconsistent with the last position
5288 |0x00A00005|MC_ERROR_ID_PLANNER_SPPED_OVER_LIMIT|Planner input velocity is over limit
5289 |0x00A00006|MC_ERROR_ID_PLANNER_ACC_DES_OVER_LIMIT|Planner input acceleration and deceleration is over limit
5290 |0x00A00007|MC_ERROR_ID_PLANNER_JERK_OVER_LIMIT|Planner input Jerk is over limit
5291 |0x00AFFFFF|MC_ERROR_ID_PLANNER_SG_CULCULATE|Planner single axis calculate error
5292 |(% colspan="3" %)**Axis group planner error**
5293 |0x00B00000|MC_ERROR_ID_PLANNER_SP_SAME_START_END|Planner space curve’ start and end are the same
5294 |0x00B00000|MC_ERROR_ID_PLANNER_SP_NOT_IN_SAME_PLANE|Planner space curve is not in the same plane
5295 |0x00BFFFFF|MC_ERROR_ID_PLANNER_SP_CULCULATE|Planner space curve calculate error
5296 |(% colspan="3" %)**ECAM or EGEAR error**
5297 |0x00C00000|MC_ERROR_ID_AXIS_MASTER_AND_SLAVE_IS_SAME|Planner master and slave is the same
5298 |0x00C00001|MC_ERROR_ID_AXIS_MAX_ACC_OR_DEC_OR_VEL_IS_ZERO|Planner axis's max acc/dec/vel is zero
5299 |0x00C00002|MC_ERROR_ID_CAM_TABLE_IS_INEXISTENCE|Planner the camtable is inexistence
5300 |0x00C00003|MC_ERROR_ID_CAM_NODENUM_OVER_NODE_SIZE|Planner the cam node num is over actual cam node size
5301 |0x00C00004|MC_ERROR_ID_CAM_NODENUM_OR_NODESIZE_IS_ERROR|Planner the cam node num or cam node size is error
5302 |0x00C00005|MC_ERROR_ID_CAM_FIRST_NODE_POS_NON_ZERO|Planner the cam first node's master position or slave position non-zero
5303 |0x00C00006|MC_ERROR_ID_CAM_NODE_PARAMETER_IS_ERROR| Planner the cam node parameter is error
5304 |0x00C00007|MC_ERROR_ID_CAM_UPDATE_CAM_TABLE_IS_ERROR|Planner the update cam table is error
5305 |0x00C00008|MC_ERROR_ID_CAM_SAVE_CAM_TABLE_IS_ERROR|Planner the save cam table is error
5306 |0x00C00009|MC_ERROR_ID_CAM_GET_AXIS_VEL_AND_POS_ERROR|Planner get master and slave vel/pos is error
5307 |0x00C0000A|MC_ERROR_ID_BUFFER_MODE_IS_NOT_ABORTING|Planner the buffer mode is not aborting
5308 |0x00C0000B|MC_ERROR_ID_CAM_AXIS_SCALING_IS_ZERO|Planner the cam master scaling or slave scaling is zero
5309 |0x00C0000C|MC_ERROR_ID_CAM_TABLE_IS_NOT_BIND|Planner the cam table is not bind
5310 |0x00C0000D|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_CAM_STATE|Planner the axis is not in the cam state
5311 |0x00C0000E|MC_ERROR_ID_THE_AXIS_IS_NOT_IN_GEAR_STATE|Planner the axis is not in the gear state
5312 |0x00C0000F|MC_ERROR_ID_CAM_IN_PARAMETER_IS_ERROR|Planner the camin parameter is error
5313 |0x00C00010|MC_ERROR_ID_GEAR_IN_PARAMETER_IS_ERROR|Planner the gearin parameter is error
5314 |0x00C00011|MC_ERROR_ID_GEAR_IN_POS_PARAMETER_IS_ERROR|Planner the gearinpos parameter is error
5315 |0x00C00012|MC_ERROR_ID_CAM_TABLE_IS_UPDATE|Planner the cam table is updating
5316 |0x00C00013|MC_ERROR_ID_GET_CAM_TABLE_POS_IS_ERROR|Planner the get cam table position is error
5317 |0x00C00014|MC_ERROR_ID_CAM_TABLE_PHASE_IS_OUT_OF_RANGE|Planner the get cam table position is error
5318 |0x00C00015|MC_ERROR_ID_CAM_TABLE_NODE_IS_NOT_ADJOIN|Planner the cam table node is not adjoin
5319
5320