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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 8.1
edited by Iris
on 2025/12/24 16:39
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

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Content
... ... @@ -814,9 +814,6 @@
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;
820 820  
821 821  Error code
822 822  
... ... @@ -2204,14 +2204,6 @@
2204 2204  
2205 2205  
2206 2206  
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 2215  == **Management functions of axis group motion control** ==
2216 2216  
2217 2217  ----
... ... @@ -4115,9 +4115,9 @@
4115 4115  
4116 4116  === **MC _ MOVEABSRELPP** ===
4117 4117  
4118 -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
4119 4119  
4120 -[[image:1761034254689-443.png]]
4109 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4121 4121  
4122 4122  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4123 4123  
... ... @@ -4202,15 +4202,14 @@
4202 4202  
4203 4203  **Timing diagram**
4204 4204  
4194 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4205 4205  
4206 -(% style="text-align:center" %)
4207 -[[image:1761034304535-743.png]]
4208 4208  
4209 -=== **MC _ MOVEVELOCITYPV** ===
4197 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4210 4210  
4211 4211  MC _ MOVEVELOCITYPV-Contour Speed Command
4212 4212  
4213 -[[image:1761034415972-645.png]]
4201 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4214 4214  
4215 4215  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4216 4216  
... ... @@ -4297,16 +4297,17 @@
4297 4297  
4298 4298  **Timing diagram**
4299 4299  
4288 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4300 4300  
4301 -(% style="text-align:center" %)
4302 -[[image:1761034458765-139.png]]
4303 4303  
4304 -=== **MC _ TORQUECONTROLPT** ===
4305 4305  
4306 -MC _ TORQUECONTROLPT-Contour torque control command
4307 4307  
4308 -[[image:1761034544967-630.png]]
4293 +**8.7.10 MC _ TORQUECONTROLPT**
4309 4309  
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 +
4310 4310  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4311 4311  
4312 4312  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4357,6 +4357,7 @@
4357 4357  
4358 4358  0x1A00: 0x6061, 0x6077, 0x6041
4359 4359  
4349 +
4360 4360  **Function description**
4361 4361  
4362 4362  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
... ... @@ -4397,9 +4397,10 @@
4397 4397  
4398 4398  **Timing diagram**
4399 4399  
4400 -(% style="text-align:center" %)
4401 -[[image:1761034615747-763.png]]
4390 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4402 4402  
4392 +== ==
4393 +
4403 4403  == **SDO instruction** ==
4404 4404  
4405 4405  ----
... ... @@ -4911,20 +4911,22 @@
4911 4911  
4912 4912  Features
4913 4913  )))|(((
4914 -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 +
4915 4915  )))|(((
4916 4916  
4917 4917  
4918 -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.
4919 4919  
4920 4920  
4921 4921  
4922 4922  )))|(((
4923 -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.
4924 4924  
4925 4925  The direction of the vector determines the direction of CW and CCW circles.
4926 4926  
4927 -The vector length is the radius of the arc.
4920 +The major arc and minor arc are determined by path choice.
4928 4928  )))
4929 4929  |(((
4930 4930  
... ... @@ -5174,7 +5174,6 @@
5174 5174  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5175 5175  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5176 5176  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5177 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5178 5178  |(% colspan="3" %)**Error Stop**
5179 5179  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5180 5180  |(% colspan="3" %)**Error from servo**
... ... @@ -5198,25 +5198,6 @@
5198 5198  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5199 5199  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5200 5200  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5201 -|0x00600014|(((
5202 -MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5203 -
5204 -OVER_LIMIT
5205 -)))|Pulse shaft HOME Velocity over limit
5206 -|0x00600015|(((
5207 -MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5208 -
5209 -OVER_LIMIT
5210 -)))|Pulse shaft HOME Acceleration over limit
5211 -|0x00600020|(((
5212 -MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5213 -
5214 -NOTMAP
5215 -)))|(((
5216 -There is no required PDO for the mode
5217 -
5218 -corresponding to mode switching.
5219 -)))
5220 5220  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5221 5221  |(% colspan="3" %)**Axis’s error**
5222 5222  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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