Changes for page 08 Motion Control

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...	...	@@ -15,8 +15,6 @@
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		-
20	20	|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
21	21	|**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**
22	22	|(% rowspan="8" %)MC_POWER|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
...	...	@@ -36,20 +36,19 @@
36	36
37	37	Variable Type Used
38	38
	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])
39	39
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		-
50	50	Function
51	51
52		-* This function block must be enabled if an axis is to participate in motion.
	49	+* This funcion block must be enabled if an axis is to participate in motion.
53	53	* The function is as follows:
54	54
55	55	1. When the Enable input is TRUE, the power to the drive is enabled, not to the function block itself;
...	...	@@ -814,6 +814,9 @@
814	814	Precautions
815	815
816	816	* 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="10" %)(((
	1500	+|(% colspan="1" rowspan="11" %)(((
1501	1501
1502	1502
1503	1503
...	...	@@ -1540,7 +1540,7 @@
1540	1540
1541	1541	Others: Reserved
1542	1542	)))
1543		-|(% colspan="1" rowspan="5" %)(((
	1543	+|(% colspan="1" rowspan="6" %)(((
1544	1544
1545	1545
1546	1546
...	...	@@ -1548,6 +1548,7 @@
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
1551	1551	|Error|BOOL|Yes| |Whether there is an error or not
1552	1552	|ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1553	1553
...	...	@@ -1622,9 +1622,9 @@
1622	1622	MC_SAVECAMTABLE
1623	1623	)))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1624	1624	|CamTableID|INT|No|-|Cam tableID
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
	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
1628	1628	|Error|BOOL|Yes|-|Whether there is an error or not
1629	1629	|ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1630	1630
...	...	@@ -2201,6 +2201,18 @@
2201	2201
2202	2202
2203	2203
	2205	+
	2206	+
	2207	+
	2208	+
	2209	+
	2210	+
	2211	+
	2212	+
	2213	+
	2214	+
	2215	+
	2216	+
2204	2204	== **Management functions of axis group motion control** ==
2205	2205
2206	2206	----
...	...	@@ -3814,11 +3814,11 @@
3814	3814
3815	3815	**Function**
3816	3816
3817		-* 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.
	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	3818	* 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;
3819	3819	* 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;
3820		-* 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;
3821		-* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
	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.
3822	3822
3823	3823	**Error code**
3824	3824
...	...	@@ -3874,7 +3874,11 @@
3874	3874
3875	3875	VELOCITY
3876	3876	)))|Execute|BOOL|No|TRUE/FALSE|Enable
3877		-|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
	3890	+|Velocity|LREAL|No|(((
	3891	+[-999999999.999999,99999
	3892	+
	3893	+9999.999999]
	3894	+)))|Setting velocity
3878	3878	|Axis|(((
3879	3879	WORD
3880	3880
...	...	@@ -4104,9 +4104,9 @@
4104	4104
4105	4105	=== **MC _ MOVEABSRELPP** ===
4106	4106
4107		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
	4124	+MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108	4108
4109		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
	4126	+[[image:1761034254689-443.png]]
4110	4110
4111	4111	**Device used (only a single device can be used, and device splicing and Index are not supported)**
4112	4112
...	...	@@ -4191,14 +4191,15 @@
4191	4191
4192	4192	**Timing diagram**
4193	4193
4194		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4195	4195
	4212	+(% style="text-align:center" %)
	4213	+[[image:1761034304535-743.png]]
4196	4196
4197		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
	4215	+=== **MC _ MOVEVELOCITYPV** ===
4198	4198
4199	4199	MC _ MOVEVELOCITYPV-Contour Speed Command
4200	4200
4201		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
	4219	+[[image:1761034415972-645.png]]
4202	4202
4203	4203	**Device used (only a single device can be used, and device splicing and Index are not supported)**
4204	4204
...	...	@@ -4285,17 +4285,16 @@
4285	4285
4286	4286	**Timing diagram**
4287	4287
4288		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4289	4289
	4307	+(% style="text-align:center" %)
	4308	+[[image:1761034458765-139.png]]
4290	4290
	4310	+=== **MC _ TORQUECONTROLPT** ===
4291	4291
	4312	+MC _ TORQUECONTROLPT-Contour torque control command
4292	4292
4293		-**8.7.10 MC _ TORQUECONTROLPT**
	4314	+[[image:1761034544967-630.png]]
4294	4294
4295		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4296		-
4297		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4298		-
4299	4299	**Device used (only a single device can be used, and device splicing and Index are not supported)**
4300	4300
4301	4301	|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
...	...	@@ -4346,7 +4346,6 @@
4346	4346
4347	4347	0x1A00: 0x6061, 0x6077, 0x6041
4348	4348
4349		-
4350	4350	**Function description**
4351	4351
4352	4352	* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
...	...	@@ -4387,10 +4387,9 @@
4387	4387
4388	4388	**Timing diagram**
4389	4389
4390		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
	4406	+(% style="text-align:center" %)
	4407	+[[image:1761034615747-763.png]]
4391	4391
4392		-== ==
4393		-
4394	4394	== **SDO instruction** ==
4395	4395
4396	4396	----
...	...	@@ -4881,16 +4881,41 @@
4881	4881	----
4882	4882
4883	4883	(% style="text-align:center" %)
4884		-[[image:1709016272018-406.png||height="669" width="631"]]
	4899	+[[image:123.png||height="659" width="621"]]
4885	4885
	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	+
4886	4886	=== **Axis group motion control status diagram** ===
4887	4887
4888	4888	----
4889	4889
4890	4890	(% style="text-align:center" %)
4891		-[[image:1709016323709-202.png]]
	4920	+[[image:234.png||height="405" width="669"]]
4892	4892
	4922	+**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4893	4893
	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	+
4894	4894	=== **Arc mode description** ===
4895	4895
4896	4896	----
...	...	@@ -4902,22 +4902,20 @@
4902	4902
4903	4903	Features
4904	4904	)))|(((
4905		-The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4906		-
4907		-
	4945	+The arc path consists of the starting point, auxiliary points, and ending point.
4908	4908	)))|(((
4909	4909
4910	4910
4911		-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.
	4949	+The arc path consists of the starting point, the center point, and theending point.
4912	4912
4913	4913
4914	4914
4915	4915	)))|(((
4916		-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.
	4954	+The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4917	4917
4918	4918	The direction of the vector determines the direction of CW and CCW circles.
4919	4919
4920		-The major arc and minor arc are determined by path choice.
	4958	+The vector length is the radius of the arc.
4921	4921	)))
4922	4922	|(((
4923	4923
...	...	@@ -5167,6 +5167,7 @@
5167	5167	|0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5168	5168	|0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5169	5169	|0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
	5208	+|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5170	5170	|(% colspan="3" %)**Error Stop**
5171	5171	|0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5172	5172	|(% colspan="3" %)**Error from servo**
...	...	@@ -5190,6 +5190,25 @@
5190	5190	|0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5191	5191	|0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5192	5192	|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	+)))
5193	5193	|0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5194	5194	|(% colspan="3" %)**Axis’s error**
5195	5195	|0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error

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