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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 12.1
edited by Iris
on 2026/04/03 10:39
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -15,8 +15,6 @@
15 15  
16 16  Device used (only a single device can be used, and device splicing and offset are not supported)
17 17  
18 -
19 -
20 20  |=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
21 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 22  |(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
... ... @@ -36,20 +36,19 @@
36 36  
37 37  Variable Type Used
38 38  
37 +|**Instruction**|**Pin type**|**Variable type**|**Variable type**|**Can be empty or not**|**Range**|**Description**
38 +|(% rowspan="8" %)MC_POWER|(% rowspan="4" %)Input|Enable|BOOL|No|TRUE/FALSE|Enable
39 +|EnablePositive|BOOL|No|TRUE/FALSE|Allow movement in the positive direction
40 +|EnableNegative|BOOL|No|TRUE/FALSE|Allow movement in negative direction
41 +|Axis|WORD|No|[0,65535]|Axis number
42 +|(% rowspan="4" %)Output|Status|BOOL|Yes|TRUE/FALSE|Enable status
43 +|Valid|BOOL|Yes|TRUE/FALSE|Data valid or not
44 +|Error|BOOL|Yes|TRUE/FALSE|Whether there is an error or not
45 +|ErrorID|DWORD|Yes|-|Error code (See [8.11 Error code comparison table])
39 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 50  Function
51 51  
52 -* This function block must be enabled if an axis is to participate in motion.
49 +* This funcion block must be enabled if an axis is to participate in motion.
53 53  * The function is as follows:
54 54  
55 55  1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
... ... @@ -2215,6 +2215,8 @@
2215 2215  
2216 2216  
2217 2217  
2215 +
2216 +
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
3890 +|Velocity|LREAL|No|(((
3891 +[-999999999.999999,99999
3892 +
3893 +9999.999999]
3894 +)))|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  
4901 +**✎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).
4902 +
4903 +① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4904 +
4905 +② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4906 +
4907 +③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4908 +
4909 +④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4910 +
4911 +⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4912 +
4913 +⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4914 +
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  
4922 +**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4905 4905  
4924 +① Applies to all non-administrative (i.e., motion control) function blocks.
4925 +
4926 +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.
4927 +
4928 +③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4929 +
4930 +④ The state transition is available if the last axis is removed from the axis group.
4931 +
4932 +⑤ The transition is available when the axis group is non-empty.
4933 +
4906 4906  === **Arc mode description** ===
4907 4907  
4908 4908  ----