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Changes for page 08 Motion Control

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

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Content
... ... @@ -2215,7 +2215,6 @@
2215 2215  
2216 2216  
2217 2217  
2218 -
2219 2219  == **Management functions of axis group motion control** ==
2220 2220  
2221 2221  ----
... ... @@ -3889,11 +3889,7 @@
3889 3889  
3890 3890  VELOCITY
3891 3891  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3892 -|Velocity|LREAL|No|(((
3893 -[-999999999.999999,99999
3894 -
3895 -9999.999999]
3896 -)))|Setting velocity
3891 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3897 3897  |Axis|(((
3898 3898  WORD
3899 3899  
... ... @@ -4900,20 +4900,6 @@
4900 4900  (% style="text-align:center" %)
4901 4901  [[image:123.png||height="659" width="621"]]
4902 4902  
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 -
4917 4917  === **Axis group motion control status diagram** ===
4918 4918  
4919 4919  ----
... ... @@ -4921,18 +4921,7 @@
4921 4921  (% style="text-align:center" %)
4922 4922  [[image:234.png||height="405" width="669"]]
4923 4923  
4924 -**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4925 4925  
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 -
4936 4936  === **Arc mode description** ===
4937 4937  
4938 4938  ----