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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 4.2
edited by Iris
on 2025/10/21 16:11
Change comment: There is no comment for this version

Summary

Details

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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  
... ... @@ -2207,15 +2207,6 @@
2207 2207  
2208 2208  
2209 2209  
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 -
2217 -
2218 -
2219 2219  == **Management functions of axis group motion control** ==
2220 2220  
2221 2221  ----
... ... @@ -3829,11 +3829,11 @@
3829 3829  
3830 3830  **Function**
3831 3831  
3832 -* 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.
3819 +* 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.
3833 3833  * 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;
3834 3834  * 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;
3835 -* 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;
3836 -* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3822 +* 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;
3823 +* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3837 3837  
3838 3838  **Error code**
3839 3839  
... ... @@ -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
3879 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3897 3897  |Axis|(((
3898 3898  WORD
3899 3899  
... ... @@ -4211,14 +4211,12 @@
4211 4211  **Timing diagram**
4212 4212  
4213 4213  
4214 -(% style="text-align:center" %)
4215 -[[image:1761034304535-743.png]]
4216 4216  
4217 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4218 4218  
4219 4219  MC _ MOVEVELOCITYPV-Contour Speed Command
4220 4220  
4221 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4222 4222  
4223 4223  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4224 4224  
... ... @@ -4305,16 +4305,17 @@
4305 4305  
4306 4306  **Timing diagram**
4307 4307  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4308 4308  
4309 -(% style="text-align:center" %)
4310 -[[image:1761034458765-139.png]]
4311 4311  
4312 -=== **MC _ TORQUECONTROLPT** ===
4313 4313  
4314 -MC _ TORQUECONTROLPT-Contour torque control command
4315 4315  
4316 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4317 4317  
4296 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4297 +
4298 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4299 +
4318 4318  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4319 4319  
4320 4320  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4365,6 +4365,7 @@
4365 4365  
4366 4366  0x1A00: 0x6061, 0x6077, 0x6041
4367 4367  
4350 +
4368 4368  **Function description**
4369 4369  
4370 4370  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4405,9 +4405,10 @@
4405 4405  
4406 4406  **Timing diagram**
4407 4407  
4408 -(% style="text-align:center" %)
4409 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4410 4410  
4393 +== ==
4394 +
4411 4411  == **SDO instruction** ==
4412 4412  
4413 4413  ----
... ... @@ -4898,41 +4898,16 @@
4898 4898  ----
4899 4899  
4900 4900  (% style="text-align:center" %)
4901 -[[image:123.png||height="659" width="621"]]
4885 +[[image:1709016272018-406.png||height="669" width="631"]]
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  ----
4920 4920  
4921 4921  (% style="text-align:center" %)
4922 -[[image:234.png||height="405" width="669"]]
4892 +[[image:1709016323709-202.png]]
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  ----
... ... @@ -4944,20 +4944,22 @@
4944 4944  
4945 4945  Features
4946 4946  )))|(((
4947 -The arc path consists of the starting point, auxiliary points, and ending point.
4906 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4907 +
4908 +
4948 4948  )))|(((
4949 4949  
4950 4950  
4951 -The arc path consists of the starting point, the center point, and theending point.
4912 +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.
4952 4952  
4953 4953  
4954 4954  
4955 4955  )))|(((
4956 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4917 +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.
4957 4957  
4958 4958  The direction of the vector determines the direction of CW and CCW circles.
4959 4959  
4960 -The vector length is the radius of the arc.
4921 +The major arc and minor arc are determined by path choice.
4961 4961  )))
4962 4962  |(((
4963 4963  
... ... @@ -5207,7 +5207,6 @@
5207 5207  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5208 5208  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5209 5209  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5210 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5211 5211  |(% colspan="3" %)**Error Stop**
5212 5212  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5213 5213  |(% colspan="3" %)**Error from servo**
... ... @@ -5231,25 +5231,6 @@
5231 5231  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5232 5232  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5233 5233  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5234 -|0x00600014|(((
5235 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5236 -
5237 -OVER_LIMIT
5238 -)))|Pulse shaft HOME Velocity over limit
5239 -|0x00600015|(((
5240 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5241 -
5242 -OVER_LIMIT
5243 -)))|Pulse shaft HOME Acceleration over limit
5244 -|0x00600020|(((
5245 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5246 -
5247 -NOTMAP
5248 -)))|(((
5249 -There is no required PDO for the mode
5250 -
5251 -corresponding to mode switching.
5252 -)))
5253 5253  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5254 5254  |(% colspan="3" %)**Axis’s error**
5255 5255  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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