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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 2.1
edited by Iris
on 2025/10/21 15:41
Change comment: There is no comment for this version

Summary

Details

Page properties
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  
... ... @@ -2203,16 +2203,6 @@
2203 2203  
2204 2204  
2205 2205  
2206 -
2207 -
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 2216  == **Management functions of axis group motion control** ==
2217 2217  
2218 2218  ----
... ... @@ -3748,9 +3748,9 @@
3748 3748  
3749 3749  === **MC _ MOVEVELOCITY _ CSV** ===
3750 3750  
3751 -MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3738 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps1.png]]MC _ MOVEVELOCITY _ CSV-Sets motion according to the speed specified by the function block
3752 3752  
3753 -[[image:1761032781939-478.png]]
3740 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps2.jpg]]
3754 3754  
3755 3755  The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
3756 3756  
... ... @@ -3844,15 +3844,16 @@
3844 3844  
3845 3845  **Timing diagram**
3846 3846  
3834 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps3.jpg]]
3847 3847  
3848 -(% style="text-align:center" %)
3849 -[[image:1761032845559-339.png||height="306" width="520"]]
3850 3850  
3851 -=== **MC _ SYNCMOVEVELOCITY** ===
3852 3852  
3838 +
3839 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps4.png]]**8.7.5 MC _ SYNCMOVEVELOCITY**
3840 +
3853 3853  MC _ SYNCMOVEVELOCITY-Sets motion according to the speed specified by the function block
3854 3854  
3855 -[[image:1761032974104-584.png]]
3843 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps5.jpg]]
3856 3856  
3857 3857  The function block is used to continue the motion of the previous function block and move according to the speed specified by the function block.
3858 3858  
... ... @@ -3920,14 +3920,16 @@
3920 3920  
3921 3921  **Timing diagram**
3922 3922  
3923 -(% style="text-align:center" %)
3924 -[[image:1761033004563-270.png]]
3911 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps6.jpg]]
3925 3925  
3926 -=== **MC _ SETTORQUE** ===
3927 3927  
3914 +
3915 +
3916 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps7.png]]**8.7.6 MC _ SETTORQUE**
3917 +
3928 3928  MC _ SETTORQUE-Synchronous torque instruction
3929 3929  
3930 -[[image:1761033083623-162.png]]
3920 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps8.jpg]]
3931 3931  
3932 3932  **Device used (only a single device can be used, and device splicing and Index are not supported)**
3933 3933  
... ... @@ -3994,12 +3994,27 @@
3994 3994  
3995 3995  * This function block is not available when the axis does not exist.
3996 3996  
3997 -=== **MC _ TORQUECONTROL** ===
3998 3998  
3999 -MC _ TORQUECONTROL-Torque control command
4000 4000  
4001 -[[image:1761033167971-496.png||height="206" width="262"]]
4002 4002  
3990 +
3991 +
3992 +
3993 +
3994 +
3995 +
3996 +
3997 +
3998 +
3999 +
4000 +
4001 +
4002 +**8.7.7 MC _ TORQUECONTROL**
4003 +
4004 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps9.png]]MC _ TORQUECONTROL-Torque control command
4005 +
4006 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps10.jpg]]
4007 +
4003 4003  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4004 4004  
4005 4005  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
... ... @@ -4063,6 +4063,8 @@
4063 4063  
4064 4064  * If VD3E is used, the value of startup parameter 2001:9 is 2;
4065 4065  
4071 +
4072 +
4066 4066  **Function description**
4067 4067  
4068 4068  * This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
... ... @@ -4105,302 +4105,16 @@
4105 4105  
4106 4106  After setting the target torque, the command is triggered, and the actual output torque can reach the target torque.
4107 4107  
4108 -(% style="text-align:center" %)
4109 -[[image:1761033264625-188.png]]
4115 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps11.jpg]]
4110 4110  
4111 -
4112 4112  After setting the target torque, the command is triggered, and finally the actual output torque cannot reach the target torque.
4113 4113  
4114 -(% style="text-align:center" %)
4115 -[[image:1761033334729-116.png]]
4119 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps12.jpg]]
4116 4116  
4117 -=== **MC _ MOVEABSRELPP** ===
4121 +== ==
4118 4118  
4119 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4123 +== ==
4120 4120  
4121 -[[image:1761034254689-443.png]]
4122 -
4123 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4124 -
4125 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|(((
4126 -**Pulse**
4127 -
4128 -**Expansion**
4129 -)))
4130 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4131 -|(% rowspan="13" %)(((
4132 -MC _ MOVEA
4133 -
4134 -BSRELPP
4135 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4136 -|Position| | | | | | | | | | | | | | | | | | | | | | | | | |
4137 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4138 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4139 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4140 -|Mode| | | | | | | | | | | | | | | | | | | | | | | | | |
4141 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4142 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4143 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4144 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4145 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4146 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4147 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4148 -
4149 -**Notes for using devices**
4150 -
4151 -* LC and HSC are signed 32-bit data types;
4152 -* T, C, D, R and SD are signed 16-bit data types.
4153 -
4154 -**Variable type used**
4155 -
4156 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4157 -|(% rowspan="13" %)(((
4158 -MC _ MOVE
4159 -
4160 -ABSRELPP
4161 -)))|(% rowspan="7" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4162 -|Mode|INT|No|0,1|(((
4163 -1: Absolute mode.
4164 -
4165 -1: Relative mode
4166 -)))
4167 -|Position|LREAL|No|(((
4168 --999999999.999999
4169 -
4170 -999999999.999999
4171 -)))|Target location
4172 -|Velocity|LREAL|No|（0,999999999.999999]|Velocity
4173 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4174 -|Deceleration|LREAL|No|（0,999999999.999999]|Deceleration
4175 -|Axis|WORD|No|[0,65535]|Axis number
4176 -|(% rowspan="6" %)Output|Done|BOOL|Yes|TRUE/FALSE|Completion flag
4177 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4178 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4179 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4180 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4181 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#_8.11 错误码对照表]]])
4182 -
4183 -**Function**
4184 -
4185 -* This command is used to control the EtherCAT bus contour axis to realize the absolute/relative positioning function in contour position mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid.
4186 -* Contour Position Mode requires the following PDOs:
4187 -
4188 -0x1600: 0x6081, 0x6083, 0x6084, 0x607A, 0x6060, 0x6040
4189 -
4190 -0x1A00: 0x6061, 0x6064, 0x6041
4191 -
4192 -**Function description**
4193 -
4194 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction;
4195 -* At the rising edge of the Execute input, the instruction latches the input parameters on the left side such as Position and Velocity, triggers the absolute/relative positioning function, and switches the PLCOpen state machine of the axis to the DiscreteMotion state;
4196 -* When Mode = 0, the positioning Mode is absolute positioning Mode, and Position is used to set the target Position of absolute positioning. If the axis Mode is configured as rotation Mode, the target Position is positioned according to the shortest distance;
4197 -* When Mode = 1, the positioning Mode is a relative positioning Mode, and Position is used to set the target distance of relative positioning;
4198 -* Interrupt
4199 -
4200 -When this instruction is valid in PLCOpen, the axis will be in the Discretemotion state. Other outline mode instructions that can make the axis in Discretemotion or comply with PLCOpen state machine switching can interrupt this instruction. CommandAboarted is valid when the instruction is interrupted. The instruction of periodic synchronization mode cannot be called, otherwise a fault will be reported;
4201 -
4202 -CommandAboarted is valid when the MC _ Power instruction is invalid when Execute = TRUE and the Busy signal is valid causes the axis to be de-enabled.
4203 -
4204 -**Timing diagram**
4205 -
4206 -
4207 -(% style="text-align:center" %)
4208 -[[image:1761034304535-743.png]]
4209 -
4210 -=== **MC _ MOVEVELOCITYPV** ===
4211 -
4212 -MC _ MOVEVELOCITYPV-Contour Speed Command
4213 -
4214 -[[image:1761034415972-645.png]]
4215 -
4216 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4217 -
4218 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|(((
4219 -**Index**
4220 -
4221 -**Modification**
4222 -)))|(((
4223 -**Pulse**
4224 -
4225 -**Expansion**
4226 -)))
4227 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4228 -|(% rowspan="11" %)(((
4229 -MC _ MOVEVELO
4230 -
4231 -CITYPV
4232 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4233 -|Velocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4234 -|Acceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4235 -|Deceleration| | | | | | | | | | | | | | | | | | | | | | | | | |
4236 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4237 -|InVelocity| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4238 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4239 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4240 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4241 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4242 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4243 -
4244 -**Notes for using devices**
4245 -
4246 -* LC and HSC are signed 32-bit data types;
4247 -* T, C, D, R and SD are signed 16-bit data types.
4248 -
4249 -**Variable type used**
4250 -
4251 -|**Instruction**|(((
4252 -**Pin**
4253 -
4254 -**type**
4255 -)))|**Parameter**|(((
4256 -**Variable**
4257 -
4258 -**Type**
4259 -)))|(((
4260 -**Can you**
4261 -
4262 -**Is empty**
4263 -)))|**Range**|**Description**
4264 -|(% rowspan="11" %)(((
4265 -MC _ MOVEVE
4266 -
4267 -LOCITYPV
4268 -)))|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4269 -|Velocity|LREAL|No|(((
4270 --999999999.999999
4271 -
4272 -999999999.999999
4273 -)))|Velocity
4274 -|Acceleration|LREAL|No|（0,999999999.999999]|Acceleration
4275 -|Deceleration|LREAL|No|The QPS Exceeds Maximum Limit 5|Deceleration
4276 -|Axis|WORD|No|[0,65535]|Axis number
4277 -|(% rowspan="6" %)Output|InVelocity|BOOL|Yes|TRUE/FALSE|Completion flag
4278 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4279 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4280 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4281 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4282 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4283 -
4284 -**Function**
4285 -
4286 -* This command is used to realize the continuous motion function of EtherCAT bus contour axis in contour speed mode. In the basic settings of axis configuration, the contour mode option needs to be checked before it can be called, and the rising edge is valid;
4287 -* This instruction is a simulated velocity instruction based on the profile velocity (PV) mode;
4288 -* The following PDOs are required for the profile speed mode:
4289 -
4290 -0x1600: 0x6083, 0x6084, 0x60FF, 0x6060, 0x6040
4291 -
4292 -0x1A00: 0x6061, 0x606c, 0x6041
4293 -
4294 -**Function description**
4295 -
4296 -* This instruction can only be invoked if the axis is switched to the STANDSTILL state using the MC _ Power instruction;
4297 -* When Execute = TRUE, the instruction latches the input parameters on the left side such as Velocity and Acceleration, the axis continuously runs according to the target speed set by Velocity, and switches the PLCOpen state machine of the axis to the ContinuousMotion state.
4298 -
4299 -**Timing diagram**
4300 -
4301 -
4302 -(% style="text-align:center" %)
4303 -[[image:1761034458765-139.png]]
4304 -
4305 -=== **MC _ TORQUECONTROLPT** ===
4306 -
4307 -MC _ TORQUECONTROLPT-Contour torque control command
4308 -
4309 -[[image:1761034544967-630.png]]
4310 -
4311 -**Device used (only a single device can be used, and device splicing and Index are not supported)**
4312 -
4313 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
4314 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
4315 -|(% rowspan="11" %)(((
4316 -MC _ TORQUE
4317 -
4318 -CONTROLPT
4319 -)))|Execute|●|●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4320 -|TORQUE| | | | | | | | | | | | | | | | | | | | | | | | | |
4321 -|TorqueRamp| | | | | | | | | | | | | | | | | | | | | | | | | |
4322 -|MaxVelocity| | | | | | | | | | | | | | | | | | | | | | | | | |
4323 -|Axis| | | | | | | | | | | | | | | | | | | | | | | | | |
4324 -|InTorque| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4325 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4326 -|Active| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4327 -|CommandAborted| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4328 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | | |
4329 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | | |
4330 -
4331 -**Notes for using devices**
4332 -
4333 -* LC and HSC are signed 32-bit data types;
4334 -* T, C, D, R and SD are signed 16-bit data types.
4335 -
4336 -**Variable type used**
4337 -
4338 -|**Instruction**|**Pin Type**|**Parameter**|**Variable type**|**Empty or not**|**Range**|**Description**
4339 -|(% rowspan="11" %)MC_ TORQUECONTROLPT|(% rowspan="5" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
4340 -|Torque|LREAL|No|[-32768,32767]|Target torque (unit is 0.1%)
4341 -|TorqueRamp|LREAL|No|（0,999999999.999999]|Torque slope
4342 -|MaxVelocity|LREAL|No|[0,999999999.999999]|Maximum speed
4343 -|Axis|WORD|No|[0,65535]|Axis number
4344 -|(% rowspan="6" %)Output|InTorque|BOOL|Yes|TRUE/FALSE|Completion flag
4345 -|Busy|BOOL|Yes|TRUE/FALSE|Busy flag
4346 -|Active|BOOL|Yes|TRUE/FALSE|Valid flag
4347 -|CommandAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
4348 -|Error|BOOL|Yes|TRUE/FALSE|Error or not
4349 -|ErrorID|DWORD|Yes|-|Error code (Please refer to ~[[[8.11 Error code comparison table>>path:#错误码对照表]]])
4350 -
4351 -**Function**
4352 -
4353 -* This instruction is used to control the EtherCAT bus profile axis to realize the absolute/relative positioning function in profile position mode. In the basic settings of axis configuration, the profile mode option needs to be checked before it can be called, and the rising edge is valid;
4354 -* This instruction is used to realize the torque control function and is only used for the EtherCAT bus axis. The rising edge of the instruction is valid and the virtual axis mode is not supported;
4355 -* Profile torque mode needs to be configured with the following PDOs:
4356 -
4357 -0x1600: 0x6087 (optional), 0x6060, 0x6071, 0x607f (optional), 0x6040
4358 -
4359 -0x1A00: 0x6061, 0x6077, 0x6041
4360 -
4361 -**Function description**
4362 -
4363 -* This instruction can only be invoked if the axis is switched to the enabled state using the MC _ Power instruction. Otherwise, report a fault;
4364 -* This instruction uses the driver synchronous torque mode to realize the torque control function;
4365 -* On the rising edge of the instruction, the function block latches the input parameters of TarTorque, TorqueSlope and MaxVelocity, and the axis is in the ContinuousMotion state and performs torque motion;
4366 -
4367 -TarTorque: Target torque, the unit is 0.1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded. The actual torque of the driver is limited by the maximum positive and negative torques set in the configuration parameters;
4368 -
4369 -TorqueRamp: Torque ramp, the unit is 1%, one decimal place after the decimal point is valid in the program, and the latter ones are directly discarded.
4370 -
4371 -* Speed control in torque mode
4372 -
4373 -For servo drives, if 0x607f is mapped in the axis parameter, this instruction limits the maximum speed of the servo motor by 0x607f, if 0x607f is not mapped, the speed limit is invalid;
4374 -
4375 -On the rising edge of Execute, the instruction converts the speed limit set by Velocity into pulse units and writes it into 0x607f through PDO;
4376 -
4377 -When the torque instruction is interrupted by others, the maximum speed of the axis will be limited by the "Maximum speed" in the configuration interface;
4378 -
4379 -For third-party drives, Velocity can only be used as a speed limit under the following conditions:
4380 -
4381 -The maximum speed of the servomotor can be limited by 0x607F;
4382 -
4383 -0x607F can be configured into the PDO;
4384 -
4385 -The unit of 0x607F is pulse unit, non-speed unit.
4386 -
4387 -* Stop control on torque mode
4388 -
4389 -In the torque mode, the MC _ Stop instruction is called to perform the shut down, and after receiving the Stop instruction, the driver switches to the synchronous position mode, and performs deceleration according to the deceleration set by the Stop instruction.
4390 -
4391 -* Interrupt
4392 -
4393 -In PLCOpen, when the instruction is valid, the axis will be in the Continuous Motion state. Other instructions that can make the axis in Discrete motion or comply with PLCOpen state machine switching can interrupt the instruction. When the instruction is interrupted, CommandAboarted is valid;
4394 -
4395 -CommandAboarted is valid when Execute=ON and Done signal is invalid and is about to hit the limit signal execution needs to perform deceleration;
4396 -
4397 -The axis de-enable CommandAboarted is valid when Execute=ON and the Done signal is invalid.
4398 -
4399 -**Timing diagram**
4400 -
4401 -(% style="text-align:center" %)
4402 -[[image:1761034615747-763.png]]
4403 -
4404 4404  == **SDO instruction** ==
4405 4405  
4406 4406  ----
... ... @@ -4891,7 +4891,7 @@
4891 4891  ----
4892 4892  
4893 4893  (% style="text-align:center" %)
4894 -[[image:123.png||height="659" width="621"]]
4615 +[[image:1709016272018-406.png||height="669" width="631"]]
4895 4895  
4896 4896  === **Axis group motion control status diagram** ===
4897 4897  
... ... @@ -4898,7 +4898,7 @@
4898 4898  ----
4899 4899  
4900 4900  (% style="text-align:center" %)
4901 -[[image:234.png||height="405" width="669"]]
4622 +[[image:1709016323709-202.png]]
4902 4902  
4903 4903  
4904 4904  === **Arc mode description** ===
... ... @@ -4912,20 +4912,22 @@
4912 4912  
4913 4913  Features
4914 4914  )))|(((
4915 -The arc path consists of the starting point, auxiliary points, and ending point.
4636 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4637 +
4638 +
4916 4916  )))|(((
4917 4917  
4918 4918  
4919 -The arc path consists of the starting point, the center point, and theending point.
4642 +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.
4920 4920  
4921 4921  
4922 4922  
4923 4923  )))|(((
4924 -The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4647 +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.
4925 4925  
4926 4926  The direction of the vector determines the direction of CW and CCW circles.
4927 4927  
4928 -The vector length is the radius of the arc.
4651 +The major arc and minor arc are determined by path choice.
4929 4929  )))
4930 4930  |(((
4931 4931  
... ... @@ -5175,7 +5175,6 @@
5175 5175  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5176 5176  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5177 5177  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5178 -|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5179 5179  |(% colspan="3" %)**Error Stop**
5180 5180  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5181 5181  |(% colspan="3" %)**Error from servo**
... ... @@ -5199,25 +5199,6 @@
5199 5199  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5200 5200  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5201 5201  |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 -)))
5221 5221  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5222 5222  |(% colspan="3" %)**Axis’s error**
5223 5223  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error
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