Skip to Content

Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 12.1
edited by Iris
on 2026/04/03 10:39
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

Summary

Details

Page properties
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;
... ... @@ -2212,8 +2212,6 @@
2212 2212  
2213 2213  
2214 2214  
2215 -
2216 -
2217 2217  == **Management functions of axis group motion control** ==
2218 2218  
2219 2219  ----
... ... @@ -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
3891 +|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3895 3895  |Axis|(((
3896 3896  WORD
3897 3897  
... ... @@ -4898,20 +4898,6 @@
4898 4898  (% style="text-align:center" %)
4899 4899  [[image:123.png||height="659" width="621"]]
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  ----
... ... @@ -4919,18 +4919,7 @@
4919 4919  (% style="text-align:center" %)
4920 4920  [[image:234.png||height="405" width="669"]]
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  ----