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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 10.1
edited by Iris
on 2026/03/28 17:35
Change comment: There is no comment for this version
To version 11.1
edited by Iris
on 2026/03/30 11:39
Change comment: There is no comment for this version

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... ... @@ -2215,6 +2215,7 @@
2215 2215  
2216 2216  
2217 2217  
2218 +
2218 2218  == **Management functions of axis group motion control** ==
2219 2219  
2220 2220  ----
... ... @@ -3888,7 +3888,11 @@
3888 3888  
3889 3889  VELOCITY
3890 3890  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3891 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3892 +|Velocity|LREAL|No|(((
3893 +[-999999999.999999,99999
3894 +
3895 +9999.999999]
3896 +)))|Setting velocity
3892 3892  |Axis|(((
3893 3893  WORD
3894 3894  
... ... @@ -4895,6 +4895,20 @@
4895 4895  (% style="text-align:center" %)
4896 4896  [[image:123.png||height="659" width="621"]]
4897 4897  
4903 +**✎Note**: Continuous line arrows indicate transitions via command. Dashed line arrows indicate automatic transitions, which occur when a command on an axis ends or a related system transition occurs (e.g., a related error).
4904 +
4905 +① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4906 +
4907 +② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4908 +
4909 +③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4910 +
4911 +④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4912 +
4913 +⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4914 +
4915 +⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4916 +
4898 4898  === **Axis group motion control status diagram** ===
4899 4899  
4900 4900  ----
... ... @@ -4902,7 +4902,18 @@
4902 4902  (% style="text-align:center" %)
4903 4903  [[image:234.png||height="405" width="669"]]
4904 4904  
4924 +**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4905 4905  
4926 +① Applies to all non-administrative (i.e., motion control) function blocks.
4927 +
4928 +② In the GroupErrorStop or GroupStopping state, all function blocks can be invoked, although they are not executed (except that MC_GroupReset is executed in the GroupErrorStop state and any other errors are generated). In exceptional cases, GroupErrorStop or GroupStopping will transition to GroupStandby or GroupErrorStop accordingly.
4929 +
4930 +③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4931 +
4932 +④ The state transition is available if the last axis is removed from the axis group.
4933 +
4934 +⑤ The transition is available when the axis group is non-empty.
4935 +
4906 4906  === **Arc mode description** ===
4907 4907  
4908 4908  ----