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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 3.1
edited by Iris
on 2025/10/21 16:00
Change comment: There is no comment for this version
To version 9.1
edited by Iris
on 2026/02/10 11:30
Change comment: There is no comment for this version

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Details

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Content
... ... @@ -814,6 +814,9 @@
814 814  Precautions
815 815  
816 816  * This function block is not available when the axis does not exist.
817 +* In profile mode, the STOP command requires the mapper to map the PDOs of 0x6060, 0x6061, 0x60FF, and 0x606C for normal operation;
818 +* In CST/CSV mode, triggering STOP switches to synchronous velocity mode;
819 +* 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  
... ... @@ -2201,6 +2201,15 @@
2201 2201  
2202 2202  
2203 2203  
2207 +
2208 +
2209 +
2210 +
2211 +
2212 +
2213 +
2214 +
2215 +
2204 2204  == **Management functions of axis group motion control** ==
2205 2205  
2206 2206  ----
... ... @@ -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
4119 +MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 4108  
4109 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4121 +[[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  
4207 +(% style="text-align:center" %)
4208 +[[image:1761034304535-743.png]]
4196 4196  
4197 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4210 +=== **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]]
4214 +[[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  
4302 +(% style="text-align:center" %)
4303 +[[image:1761034458765-139.png]]
4290 4290  
4305 +=== **MC _ TORQUECONTROLPT** ===
4291 4291  
4307 +MC _ TORQUECONTROLPT-Contour torque control command
4292 4292  
4293 -**8.7.10 MC _ TORQUECONTROLPT**
4309 +[[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]]
4401 +(% style="text-align:center" %)
4402 +[[image:1761034615747-763.png]]
4391 4391  
4392 -== ==
4393 -
4394 4394  == **SDO instruction** ==
4395 4395  
4396 4396  ----
... ... @@ -4881,7 +4881,7 @@
4881 4881  ----
4882 4882  
4883 4883  (% style="text-align:center" %)
4884 -[[image:1709016272018-406.png||height="669" width="631"]]
4894 +[[image:123.png||height="659" width="621"]]
4885 4885  
4886 4886  === **Axis group motion control status diagram** ===
4887 4887  
... ... @@ -4888,7 +4888,7 @@
4888 4888  ----
4889 4889  
4890 4890  (% style="text-align:center" %)
4891 -[[image:1709016323709-202.png]]
4901 +[[image:234.png||height="405" width="669"]]
4892 4892  
4893 4893  
4894 4894  === **Arc mode description** ===
... ... @@ -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 -
4915 +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.
4919 +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.
4924 +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.
4928 +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
5178 +|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
5202 +|0x00600014|(((
5203 +MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5204 +
5205 +OVER_LIMIT
5206 +)))|Pulse shaft HOME Velocity over limit
5207 +|0x00600015|(((
5208 +MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5209 +
5210 +OVER_LIMIT
5211 +)))|Pulse shaft HOME Acceleration over limit
5212 +|0x00600020|(((
5213 +MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5214 +
5215 +NOTMAP
5216 +)))|(((
5217 +There is no required PDO for the mode
5218 +
5219 +corresponding to mode switching.
5220 +)))
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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