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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 5.3
edited by Iris
on 2025/10/22 15:17
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -814,9 +814,6 @@
814 814  Precautions
815 815  
816 816  * 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;
820 820  
821 821  Error code
822 822  
... ... @@ -1500,7 +1500,7 @@
1500 1500  Variable type used
1501 1501  
1502 1502  |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 -|(% colspan="1" rowspan="11" %)(((
1500 +|(% colspan="1" rowspan="10" %)(((
1504 1504  
1505 1505  
1506 1506  
... ... @@ -1543,7 +1543,7 @@
1543 1543  
1544 1544  Others: Reserved
1545 1545  )))
1546 -|(% colspan="1" rowspan="6" %)(((
1543 +|(% colspan="1" rowspan="5" %)(((
1547 1547  
1548 1548  
1549 1549  
... ... @@ -1551,7 +1551,6 @@
1551 1551  )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1552 1552  |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1553 1553  |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1554 -|ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1555 1555  |Error|BOOL|Yes| |Whether there is an error or not
1556 1556  |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1557 1557  
... ... @@ -1626,9 +1626,9 @@
1626 1626  MC_SAVECAMTABLE
1627 1627  )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1628 1628  |CamTableID|INT|No|-|Cam tableID
1629 -|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1630 -|BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1631 -|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abort flag
1625 +|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 +|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 +|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1632 1632  |Error|BOOL|Yes|-|Whether there is an error or not
1633 1633  |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1634 1634  
... ... @@ -2209,12 +2209,6 @@
2209 2209  
2210 2210  
2211 2211  
2212 -
2213 -
2214 -
2215 -
2216 -
2217 -
2218 2218  == **Management functions of axis group motion control** ==
2219 2219  
2220 2220  ----
... ... @@ -3828,11 +3828,11 @@
3828 3828  
3829 3829  **Function**
3830 3830  
3831 -* The MC_ MOVEVELOCITY_CSV 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.
3821 +* 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.
3832 3832  * 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;
3833 3833  * 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;
3834 -* The MC_ MOVEVELOCITY_CSV 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;
3835 -* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3824 +* 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;
3825 +* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3836 3836  
3837 3837  **Error code**
3838 3838  
... ... @@ -4893,7 +4893,7 @@
4893 4893  ----
4894 4894  
4895 4895  (% style="text-align:center" %)
4896 -[[image:123.png||height="659" width="621"]]
4886 +[[image:1709016272018-406.png||height="669" width="631"]]
4897 4897  
4898 4898  === **Axis group motion control status diagram** ===
4899 4899  
... ... @@ -4900,7 +4900,7 @@
4900 4900  ----
4901 4901  
4902 4902  (% style="text-align:center" %)
4903 -[[image:234.png||height="405" width="669"]]
4893 +[[image:1709016323709-202.png]]
4904 4904  
4905 4905  
4906 4906  === **Arc mode description** ===
... ... @@ -4914,20 +4914,22 @@
4914 4914  
4915 4915  Features
4916 4916  )))|(((
4917 -The arc path consists of the starting point, auxiliary points, and ending point.
4907 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4908 +
4909 +
4918 4918  )))|(((
4919 4919  
4920 4920  
4921 -The arc path consists of the starting point, the center point, and theending point.
4913 +The auxiliary point is defined as the center of the motion trajectory, so the auxiliary point should be on the perpendicular line connecting the starting point and the ending point.
4922 4922  
4923 4923  
4924 4924  
4925 4925  )))|(((
4926 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4918 +According to the right-hand grip rule, the ending point and the vector perpendicular to the plane of the circle are defined, and the length of the vector corresponds to the radius of the circle.
4927 4927  
4928 4928  The direction of the vector determines the direction of CW and CCW circles.
4929 4929  
4930 -The vector length is the radius of the arc.
4922 +The major arc and minor arc are determined by path choice.
4931 4931  )))
4932 4932  |(((
4933 4933  
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