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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 8.1
edited by Iris
on 2025/12/24 16:39
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -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" %)(((
1503 +|(% 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" %)(((
1546 +|(% 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
1628 +|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1629 +|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1630 +|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  
... ... @@ -2213,9 +2213,6 @@
2213 2213  
2214 2214  
2215 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.
3828 +* 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.
3831 +* 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;
3832 +* 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
3888 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3897 3897  |Axis|(((
3898 3898  WORD
3899 3899  
... ... @@ -4898,41 +4898,16 @@
4898 4898  ----
4899 4899  
4900 4900  (% style="text-align:center" %)
4901 -[[image:123.png||height="659" width="621"]]
4893 +[[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"]]
4900 +[[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  ----
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