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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 9.1
edited by Iris
on 2026/02/10 11:30
Change comment: There is no comment for this version
To version 10.1
edited by Iris
on 2026/03/28 17:35
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -1500,7 +1500,7 @@
1500 1500  Variable type used
1501 1501  
1502 1502  |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 -|(% colspan="1" rowspan="10" %)(((
1503 +|(% colspan="1" rowspan="11" %)(((
1504 1504  
1505 1505  
1506 1506  
... ... @@ -1543,7 +1543,7 @@
1543 1543  
1544 1544  Others: Reserved
1545 1545  )))
1546 -|(% colspan="1" rowspan="5" %)(((
1546 +|(% colspan="1" rowspan="6" %)(((
1547 1547  
1548 1548  
1549 1549  
... ... @@ -1551,6 +1551,7 @@
1551 1551  )))|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1552 1552  |BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1553 1553  |InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1554 +|ReadyUpdate|BOOL|Yes|TRUE/FALSE|Cam table update comp flag
1554 1554  |Error|BOOL|Yes| |Whether there is an error or not
1555 1555  |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1556 1556  
... ... @@ -1625,9 +1625,9 @@
1625 1625  MC_SAVECAMTABLE
1626 1626  )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1627 1627  |CamTableID|INT|No|-|Cam tableID
1628 -|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1629 -|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1630 -|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
1631 1631  |Error|BOOL|Yes|-|Whether there is an error or not
1632 1632  |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1633 1633  
... ... @@ -2213,6 +2213,7 @@
2213 2213  
2214 2214  
2215 2215  
2217 +
2216 2216  == **Management functions of axis group motion control** ==
2217 2217  
2218 2218  ----
... ... @@ -3826,11 +3826,11 @@
3826 3826  
3827 3827  **Function**
3828 3828  
3829 -* 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.
3831 +* 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.
3830 3830  * 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;
3831 3831  * 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;
3832 -* 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;
3833 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3834 +* 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;
3835 +* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3834 3834  
3835 3835  **Error code**
3836 3836