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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 2.2
edited by Iris
on 2025/10/21 15:58
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
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1 -XWiki.Jim258
1 +XWiki.Iris
Content
... ... @@ -2201,13 +2201,6 @@
2201 2201  
2202 2202  
2203 2203  
2204 -
2205 -
2206 -
2207 -
2208 -
2209 -
2210 -
2211 2211  == **Management functions of axis group motion control** ==
2212 2212  
2213 2213  ----
... ... @@ -4111,9 +4111,9 @@
4111 4111  
4112 4112  === **MC _ MOVEABSRELPP** ===
4113 4113  
4114 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4107 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4115 4115  
4116 -[[image:1761034254689-443.png]]
4109 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4117 4117  
4118 4118  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4119 4119  
... ... @@ -4198,15 +4198,14 @@
4198 4198  
4199 4199  **Timing diagram**
4200 4200  
4194 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4201 4201  
4202 -(% style="text-align:center" %)
4203 -[[image:1761034304535-743.png]]
4204 4204  
4205 -=== **MC _ MOVEVELOCITYPV** ===
4197 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4206 4206  
4207 4207  MC _ MOVEVELOCITYPV-Contour Speed Command
4208 4208  
4209 -[[image:1761034415972-645.png]]
4201 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4210 4210  
4211 4211  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4212 4212  
... ... @@ -4293,16 +4293,17 @@
4293 4293  
4294 4294  **Timing diagram**
4295 4295  
4288 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4296 4296  
4297 -(% style="text-align:center" %)
4298 -[[image:1761034458765-139.png]]
4299 4299  
4300 -=== **MC _ TORQUECONTROLPT** ===
4301 4301  
4302 -MC _ TORQUECONTROLPT-Contour torque control command
4303 4303  
4304 -[[image:1761034544967-630.png]]
4293 +**8.7.10 MC _ TORQUECONTROLPT**
4305 4305  
4295 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4296 +
4297 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4298 +
4306 4306  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4307 4307  
4308 4308  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4353,6 +4353,7 @@
4353 4353  
4354 4354  0x1A00: 0x6061, 0x6077, 0x6041
4355 4355  
4349 +
4356 4356  **Function description**
4357 4357  
4358 4358  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4393,9 +4393,10 @@
4393 4393  
4394 4394  **Timing diagram**
4395 4395  
4396 -(% style="text-align:center" %)
4397 -[[image:1761034615747-763.png]]
4390 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4398 4398  
4392 +== ==
4393 +
4399 4399  == **SDO instruction** ==
4400 4400  
4401 4401  ----
... ... @@ -4907,20 +4907,22 @@
4907 4907  
4908 4908  Features
4909 4909  )))|(((
4910 -The arc path consists of the starting point, auxiliary points, and ending point.
4905 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4906 +
4907 +
4911 4911  )))|(((
4912 4912  
4913 4913  
4914 -The arc path consists of the starting point, the center point, and theending point.
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.
4915 4915  
4916 4916  
4917 4917  
4918 4918  )))|(((
4919 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
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.
4920 4920  
4921 4921  The direction of the vector determines the direction of CW and CCW circles.
4922 4922  
4923 -The vector length is the radius of the arc.
4920 +The major arc and minor arc are determined by path choice.
4924 4924  )))
4925 4925  |(((
4926 4926  
... ... @@ -5170,7 +5170,6 @@
5170 5170  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5171 5171  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5172 5172  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5173 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5174 5174  |(% colspan="3" %)**Error Stop**
5175 5175  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5176 5176  |(% colspan="3" %)**Error from servo**
... ... @@ -5194,25 +5194,6 @@
5194 5194  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5195 5195  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5196 5196  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5197 -|0x00600014|(((
5198 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5199 -
5200 -OVER_LIMIT
5201 -)))|Pulse shaft HOME Velocity over limit
5202 -|0x00600015|(((
5203 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5204 -
5205 -OVER_LIMIT
5206 -)))|Pulse shaft HOME Acceleration over limit
5207 -|0x00600020|(((
5208 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5209 -
5210 -NOTMAP
5211 -)))|(((
5212 -There is no required PDO for the mode
5213 -
5214 -corresponding to mode switching.
5215 -)))
5216 5216  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5217 5217  |(% colspan="3" %)**Axis’s error**
5218 5218  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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