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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 11.2
edited by Iris
on 2026/04/03 10:39
Change comment: There is no comment for this version
To version 4.1
edited by Iris
on 2025/10/21 16:03
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -15,6 +15,8 @@
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 +
18 18  |=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
19 19  |**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**
20 20  |(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
... ... @@ -34,19 +34,20 @@
34 34  
35 35  Variable Type Used
36 36  
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])
46 46  
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 +
47 47  Function
48 48  
49 -* This funcion block must be enabled if an axis is to participate in motion.
52 +* This function block must be enabled if an axis is to participate in motion.
50 50  * The function is as follows:
51 51  
52 52  1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
... ... @@ -811,9 +811,6 @@
811 811  Precautions
812 812  
813 813  * This function block is not available when the axis does not exist.
814 -* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
815 -* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
816 -* In CST/CSV mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
817 817  
818 818  Error code
819 819  
... ... @@ -1497,7 +1497,7 @@
1497 1497  Variable type used
1498 1498  
1499 1499  |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1500 -|(% colspan="1" rowspan="11" %)(((
1500 +|(% colspan="1" rowspan="10" %)(((
1501 1501  
1502 1502  
1503 1503  
... ... @@ -1540,7 +1540,7 @@
1540 1540  
1541 1541  Others: Reserved
1542 1542  )))
1543 -|(% colspan="1" rowspan="6" %)(((
1543 +|(% colspan="1" rowspan="5" %)(((
1544 1544  
1545 1545  
1546 1546  
... ... @@ -1548,7 +1548,6 @@
1548 1548  )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1549 1549  |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1550 1550  |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1551 -|ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1552 1552  |Error|BOOL|Yes| |Whether there is an error or not
1553 1553  |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1554 1554  
... ... @@ -1623,9 +1623,9 @@
1623 1623  MC_SAVECAMTABLE
1624 1624  )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1625 1625  |CamTableID|INT|No|-|Cam tableID
1626 -|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1627 -|BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1628 -|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
1629 1629  |Error|BOOL|Yes|-|Whether there is an error or not
1630 1630  |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1631 1631  
... ... @@ -2203,17 +2203,6 @@
2203 2203  
2204 2204  
2205 2205  
2206 -
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 -
2217 2217  == **Management functions of axis group motion control** ==
2218 2218  
2219 2219  ----
... ... @@ -3827,11 +3827,11 @@
3827 3827  
3828 3828  **Function**
3829 3829  
3830 -* 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.
3818 +* 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.
3831 3831  * 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;
3832 3832  * 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;
3833 -* 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;
3834 -* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3821 +* 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;
3822 +* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3835 3835  
3836 3836  **Error code**
3837 3837  
... ... @@ -3887,11 +3887,7 @@
3887 3887  
3888 3888  VELOCITY
3889 3889  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3890 -|Velocity|LREAL|No|(((
3891 -[-999999999.999999,99999
3892 -
3893 -9999.999999]
3894 -)))|Setting velocity
3878 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3895 3895  |Axis|(((
3896 3896  WORD
3897 3897  
... ... @@ -4121,9 +4121,9 @@
4121 4121  
4122 4122  === **MC _ MOVEABSRELPP** ===
4123 4123  
4124 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4125 4125  
4126 -[[image:1761034254689-443.png]]
4110 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4127 4127  
4128 4128  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4129 4129  
... ... @@ -4208,15 +4208,14 @@
4208 4208  
4209 4209  **Timing diagram**
4210 4210  
4195 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4211 4211  
4212 -(% style="text-align:center" %)
4213 -[[image:1761034304535-743.png]]
4214 4214  
4215 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4216 4216  
4217 4217  MC _ MOVEVELOCITYPV-Contour Speed Command
4218 4218  
4219 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4220 4220  
4221 4221  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4222 4222  
... ... @@ -4303,16 +4303,17 @@
4303 4303  
4304 4304  **Timing diagram**
4305 4305  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4306 4306  
4307 -(% style="text-align:center" %)
4308 -[[image:1761034458765-139.png]]
4309 4309  
4310 -=== **MC _ TORQUECONTROLPT** ===
4311 4311  
4312 -MC _ TORQUECONTROLPT-Contour torque control command
4313 4313  
4314 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4315 4315  
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 +
4316 4316  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4317 4317  
4318 4318  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4363,6 +4363,7 @@
4363 4363  
4364 4364  0x1A00: 0x6061, 0x6077, 0x6041
4365 4365  
4350 +
4366 4366  **Function description**
4367 4367  
4368 4368  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4403,9 +4403,10 @@
4403 4403  
4404 4404  **Timing diagram**
4405 4405  
4406 -(% style="text-align:center" %)
4407 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4408 4408  
4393 +== ==
4394 +
4409 4409  == **SDO instruction** ==
4410 4410  
4411 4411  ----
... ... @@ -4896,41 +4896,16 @@
4896 4896  ----
4897 4897  
4898 4898  (% style="text-align:center" %)
4899 -[[image:123.png||height="659" width="621"]]
4885 +[[image:1709016272018-406.png||height="669" width="631"]]
4900 4900  
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 -
4915 4915  === **Axis group motion control status diagram** ===
4916 4916  
4917 4917  ----
4918 4918  
4919 4919  (% style="text-align:center" %)
4920 -[[image:234.png||height="405" width="669"]]
4892 +[[image:1709016323709-202.png]]
4921 4921  
4922 -**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4923 4923  
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 -
4934 4934  === **Arc mode description** ===
4935 4935  
4936 4936  ----
... ... @@ -4942,20 +4942,22 @@
4942 4942  
4943 4943  Features
4944 4944  )))|(((
4945 -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 +
4946 4946  )))|(((
4947 4947  
4948 4948  
4949 -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.
4950 4950  
4951 4951  
4952 4952  
4953 4953  )))|(((
4954 -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.
4955 4955  
4956 4956  The direction of the vector determines the direction of CW and CCW circles.
4957 4957  
4958 -The vector length is the radius of the arc.
4921 +The major arc and minor arc are determined by path choice.
4959 4959  )))
4960 4960  |(((
4961 4961  
... ... @@ -5205,7 +5205,6 @@
5205 5205  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5206 5206  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5207 5207  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5208 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5209 5209  |(% colspan="3" %)**Error Stop**
5210 5210  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5211 5211  |(% colspan="3" %)**Error from servo**
... ... @@ -5229,25 +5229,6 @@
5229 5229  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5230 5230  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5231 5231  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5232 -|0x00600014|(((
5233 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5234 -
5235 -OVER_LIMIT
5236 -)))|Pulse shaft HOME Velocity over limit
5237 -|0x00600015|(((
5238 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5239 -
5240 -OVER_LIMIT
5241 -)))|Pulse shaft HOME Acceleration over limit
5242 -|0x00600020|(((
5243 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5244 -
5245 -NOTMAP
5246 -)))|(((
5247 -There is no required PDO for the mode
5248 -
5249 -corresponding to mode switching.
5250 -)))
5251 5251  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5252 5252  |(% colspan="3" %)**Axis’s error**
5253 5253  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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