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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.2
edited by Iris
on 2025/10/22 15:12
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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... ... @@ -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  
... ... @@ -2204,6 +2204,12 @@
2204 2204  
2205 2205  
2206 2206  
2210 +
2211 +
2212 +
2213 +
2214 +
2215 +
2207 2207  == **Management functions of axis group motion control** ==
2208 2208  
2209 2209  ----
... ... @@ -4882,7 +4882,7 @@
4882 4882  ----
4883 4883  
4884 4884  (% style="text-align:center" %)
4885 -[[image:1709016272018-406.png||height="669" width="631"]]
4894 +[[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]]
4901 +[[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 -
4915 +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.
4919 +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.
4924 +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.
4928 +The vector length is the radius of the arc.
4922 4922  )))
4923 4923  |(((
4924 4924  
... ... @@ -5192,6 +5192,25 @@
5192 5192  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5193 5193  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5194 5194  |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 +)))
5195 5195  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5196 5196  |(% colspan="3" %)**Axis’s error**
5197 5197  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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