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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.1
edited by Iris
on 2025/10/21 16:17
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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... ... @@ -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  ----
... ... @@ -4881,7 +4881,7 @@
4881 4881  ----
4882 4882  
4883 4883  (% style="text-align:center" %)
4884 -[[image:1709016272018-406.png||height="669" width="631"]]
4896 +[[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]]
4903 +[[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 -
4917 +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.
4921 +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.
4926 +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.
4930 +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
5180 +|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
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 +)))
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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