Changes for page 08 Motion Control

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...	...	@@ -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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