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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 4.1
edited by Iris
on 2025/10/21 16:03
Change comment: There is no comment for this version
To version 8.1
edited by Iris
on 2025/12/24 16:39
Change comment: There is no comment for this version

Summary

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  
... ... @@ -2202,6 +2202,13 @@
2202 2202  
2203 2203  
2204 2204  
2208 +
2209 +
2210 +
2211 +
2212 +
2213 +
2214 +
2205 2205  == **Management functions of axis group motion control** ==
2206 2206  
2207 2207  ----
... ... @@ -4105,9 +4105,9 @@
4105 4105  
4106 4106  === **MC _ MOVEABSRELPP** ===
4107 4107  
4108 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4118 +MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4109 4109  
4110 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4120 +[[image:1761034254689-443.png]]
4111 4111  
4112 4112  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4113 4113  
... ... @@ -4192,14 +4192,15 @@
4192 4192  
4193 4193  **Timing diagram**
4194 4194  
4195 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4196 4196  
4206 +(% style="text-align:center" %)
4207 +[[image:1761034304535-743.png]]
4197 4197  
4198 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4209 +=== **MC _ MOVEVELOCITYPV** ===
4199 4199  
4200 4200  MC _ MOVEVELOCITYPV-Contour Speed Command
4201 4201  
4202 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4213 +[[image:1761034415972-645.png]]
4203 4203  
4204 4204  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4205 4205  
... ... @@ -4286,17 +4286,16 @@
4286 4286  
4287 4287  **Timing diagram**
4288 4288  
4289 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4290 4290  
4301 +(% style="text-align:center" %)
4302 +[[image:1761034458765-139.png]]
4291 4291  
4304 +=== **MC _ TORQUECONTROLPT** ===
4292 4292  
4306 +MC _ TORQUECONTROLPT-Contour torque control command
4293 4293  
4294 -**8.7.10 MC _ TORQUECONTROLPT**
4308 +[[image:1761034544967-630.png]]
4295 4295  
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 -
4300 4300  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4301 4301  
4302 4302  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4347,7 +4347,6 @@
4347 4347  
4348 4348  0x1A00: 0x6061, 0x6077, 0x6041
4349 4349  
4350 -
4351 4351  **Function description**
4352 4352  
4353 4353  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4388,10 +4388,9 @@
4388 4388  
4389 4389  **Timing diagram**
4390 4390  
4391 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4400 +(% style="text-align:center" %)
4401 +[[image:1761034615747-763.png]]
4392 4392  
4393 -== ==
4394 -
4395 4395  == **SDO instruction** ==
4396 4396  
4397 4397  ----
... ... @@ -4903,22 +4903,20 @@
4903 4903  
4904 4904  Features
4905 4905  )))|(((
4906 -The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4907 -
4908 -
4914 +The arc path consists of the starting point, auxiliary points, and ending point.
4909 4909  )))|(((
4910 4910  
4911 4911  
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.
4918 +The arc path consists of the starting point, the center point, and theending point.
4913 4913  
4914 4914  
4915 4915  
4916 4916  )))|(((
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.
4923 +The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4918 4918  
4919 4919  The direction of the vector determines the direction of CW and CCW circles.
4920 4920  
4921 -The major arc and minor arc are determined by path choice.
4927 +The vector length is the radius of the arc.
4922 4922  )))
4923 4923  |(((
4924 4924  
... ... @@ -5168,6 +5168,7 @@
5168 5168  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5169 5169  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5170 5170  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5177 +|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5171 5171  |(% colspan="3" %)**Error Stop**
5172 5172  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5173 5173  |(% colspan="3" %)**Error from servo**
... ... @@ -5191,6 +5191,25 @@
5191 5191  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5192 5192  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5193 5193  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5201 +|0x00600014|(((
5202 +MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5203 +
5204 +OVER_LIMIT
5205 +)))|Pulse shaft HOME Velocity over limit
5206 +|0x00600015|(((
5207 +MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5208 +
5209 +OVER_LIMIT
5210 +)))|Pulse shaft HOME Acceleration over limit
5211 +|0x00600020|(((
5212 +MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5213 +
5214 +NOTMAP
5215 +)))|(((
5216 +There is no required PDO for the mode
5217 +
5218 +corresponding to mode switching.
5219 +)))
5194 5194  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5195 5195  |(% colspan="3" %)**Axis’s error**
5196 5196  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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