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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 4.2
edited by Iris
on 2025/10/21 16:11
Change comment: There is no comment for this version
To version 9.2
edited by Iris
on 2026/03/28 17:32
Change comment: There is no comment for this version

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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  
... ... @@ -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" %)(((
1503 +|(% 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" %)(((
1546 +|(% 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
1554 +|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
1629 +|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
1630 +|BusY|BOOL|Yes|TRUE/FALSE|Busy flag
1631 +|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  
... ... @@ -2203,6 +2203,14 @@
2203 2203  
2204 2204  
2205 2205  
2210 +
2211 +
2212 +
2213 +
2214 +
2215 +
2216 +
2217 +
2206 2206  == **Management functions of axis group motion control** ==
2207 2207  
2208 2208  ----
... ... @@ -4194,12 +4194,14 @@
4194 4194  **Timing diagram**
4195 4195  
4196 4196  
4209 +(% style="text-align:center" %)
4210 +[[image:1761034304535-743.png]]
4197 4197  
4198 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4212 +=== **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]]
4216 +[[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  
4304 +(% style="text-align:center" %)
4305 +[[image:1761034458765-139.png]]
4291 4291  
4307 +=== **MC _ TORQUECONTROLPT** ===
4292 4292  
4309 +MC _ TORQUECONTROLPT-Contour torque control command
4293 4293  
4294 -**8.7.10 MC _ TORQUECONTROLPT**
4311 +[[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]]
4403 +(% style="text-align:center" %)
4404 +[[image:1761034615747-763.png]]
4392 4392  
4393 -== ==
4394 -
4395 4395  == **SDO instruction** ==
4396 4396  
4397 4397  ----
... ... @@ -4882,7 +4882,7 @@
4882 4882  ----
4883 4883  
4884 4884  (% style="text-align:center" %)
4885 -[[image:1709016272018-406.png||height="669" width="631"]]
4896 +[[image:123.png||height="659" width="621"]]
4886 4886  
4887 4887  === **Axis group motion control status diagram** ===
4888 4888  
... ... @@ -4889,7 +4889,7 @@
4889 4889  ----
4890 4890  
4891 4891  (% style="text-align:center" %)
4892 -[[image:1709016323709-202.png]]
4903 +[[image:234.png||height="405" width="669"]]
4893 4893  
4894 4894  
4895 4895  === **Arc mode description** ===
... ... @@ -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 -
4917 +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.
4921 +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.
4926 +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.
4930 +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
5180 +|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
5204 +|0x00600014|(((
5205 +MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5206 +
5207 +OVER_LIMIT
5208 +)))|Pulse shaft HOME Velocity over limit
5209 +|0x00600015|(((
5210 +MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5211 +
5212 +OVER_LIMIT
5213 +)))|Pulse shaft HOME Acceleration over limit
5214 +|0x00600020|(((
5215 +MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5216 +
5217 +NOTMAP
5218 +)))|(((
5219 +There is no required PDO for the mode
5220 +
5221 +corresponding to mode switching.
5222 +)))
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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