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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 7.1
edited by Jiahao Lai
on 2025/11/05 13:54
Change comment: There is no comment for this version
To version 11.1
edited by Iris
on 2026/03/30 11:39
Change comment: There is no comment for this version

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1 -XWiki.Jim258
1 +XWiki.Iris
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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  
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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  
... ... @@ -2208,6 +2208,10 @@
2208 2208  
2209 2209  
2210 2210  
2215 +
2216 +
2217 +
2218 +
2211 2211  == **Management functions of axis group motion control** ==
2212 2212  
2213 2213  ----
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3821 3821  
3822 3822  **Function**
3823 3823  
3824 -* The MC _ MoveVelocity function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
3832 +* The MC_ MOVEVELOCITY_CSV function block is used to continue the movement of the previous function block and move according to the speed specified by the function block. The input values of acceleration, deceleration and jerk are used to monitor whether the corresponding values of the controlled axis are within the input values.
3825 3825  * Since there is no input signal of position or distance, the function block will move until other function block sends a new command to stop movement of this function block;
3826 3826  * When the speed of the controlled axis reaches the input parameter ‘Velocity’ setpoint, the output parameter ‘InVelocity’ is set. Once the input ‘Execute’ signal detects a falling edge or other function block to abort this function block, the output parameter InVelocity is reset;
3827 -* The MC _ MoveVelocity function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3828 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3835 +* The MC_ MOVEVELOCITY_CSV function block shall be in a stopped motion state or a single-axis operation state when the controlled axis is operated. After this function block is triggered, the controlled axis transitions to the ‘Continuous Motion’ state. If the controlled axis is not in the above state, the function block is not executed, Error output is set;
3836 +* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3829 3829  
3830 3830  **Error code**
3831 3831  
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3881 3881  
3882 3882  VELOCITY
3883 3883  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3884 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3892 +|Velocity|LREAL|No|(((
3893 +[-999999999.999999,99999
3894 +
3895 +9999.999999]
3896 +)))|Setting velocity
3885 3885  |Axis|(((
3886 3886  WORD
3887 3887  
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4886 4886  ----
4887 4887  
4888 4888  (% style="text-align:center" %)
4889 -[[image:1709016272018-406.png||height="669" width="631"]]
4901 +[[image:123.png||height="659" width="621"]]
4890 4890  
4903 +**✎Note**: Continuous line arrows indicate transitions via command. Dashed line arrows indicate automatic transitions, which occur when a command on an axis ends or a related system transition occurs (e.g., a related error).
4904 +
4905 +① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4906 +
4907 +② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4908 +
4909 +③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4910 +
4911 +④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4912 +
4913 +⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4914 +
4915 +⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4916 +
4891 4891  === **Axis group motion control status diagram** ===
4892 4892  
4893 4893  ----
4894 4894  
4895 4895  (% style="text-align:center" %)
4896 -[[image:1709016323709-202.png]]
4922 +[[image:234.png||height="405" width="669"]]
4897 4897  
4924 +**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4898 4898  
4926 +① Applies to all non-administrative (i.e., motion control) function blocks.
4927 +
4928 +② In the GroupErrorStop or GroupStopping state, all function blocks can be invoked, although they are not executed (except that MC_GroupReset is executed in the GroupErrorStop state and any other errors are generated). In exceptional cases, GroupErrorStop or GroupStopping will transition to GroupStandby or GroupErrorStop accordingly.
4929 +
4930 +③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4931 +
4932 +④ The state transition is available if the last axis is removed from the axis group.
4933 +
4934 +⑤ The transition is available when the axis group is non-empty.
4935 +
4899 4899  === **Arc mode description** ===
4900 4900  
4901 4901  ----
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