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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 4.1
edited by Iris
on 2025/10/21 16:03
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  
... ... @@ -2205,14 +2205,6 @@
2205 2205  
2206 2206  
2207 2207  
2208 -
2209 -
2210 -
2211 -
2212 -
2213 -
2214 -
2215 -
2216 2216  == **Management functions of axis group motion control** ==
2217 2217  
2218 2218  ----
... ... @@ -4116,9 +4116,9 @@
4116 4116  
4117 4117  === **MC _ MOVEABSRELPP** ===
4118 4118  
4119 -MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4108 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps13.png]]MC _ MOVEABSRELPP-Positioning instruction based on contour position mode
4120 4120  
4121 -[[image:1761034254689-443.png]]
4110 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps14.jpg]]
4122 4122  
4123 4123  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4124 4124  
... ... @@ -4203,15 +4203,14 @@
4203 4203  
4204 4204  **Timing diagram**
4205 4205  
4195 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps15.jpg]]
4206 4206  
4207 -(% style="text-align:center" %)
4208 -[[image:1761034304535-743.png]]
4209 4209  
4210 -=== **MC _ MOVEVELOCITYPV** ===
4198 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps16.png]]**8.7.9 MC _ MOVEVELOCITYPV**
4211 4211  
4212 4212  MC _ MOVEVELOCITYPV-Contour Speed Command
4213 4213  
4214 -[[image:1761034415972-645.png]]
4202 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps17.jpg]]
4215 4215  
4216 4216  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4217 4217  
... ... @@ -4298,16 +4298,17 @@
4298 4298  
4299 4299  **Timing diagram**
4300 4300  
4289 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps18.jpg]]
4301 4301  
4302 -(% style="text-align:center" %)
4303 -[[image:1761034458765-139.png]]
4304 4304  
4305 -=== **MC _ TORQUECONTROLPT** ===
4306 4306  
4307 -MC _ TORQUECONTROLPT-Contour torque control command
4308 4308  
4309 -[[image:1761034544967-630.png]]
4294 +**8.7.10 MC _ TORQUECONTROLPT**
4310 4310  
4296 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps19.png]]MC _ TORQUECONTROLPT-Contour torque control command
4297 +
4298 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps20.jpg]]
4299 +
4311 4311  **Device used (only a single device can be used, and device splicing and Index are not supported)**
4312 4312  
4313 4313  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Device**|**Index modification**|**Pulse expansion**
... ... @@ -4358,6 +4358,7 @@
4358 4358  
4359 4359  0x1A00: 0x6061, 0x6077, 0x6041
4360 4360  
4350 +
4361 4361  **Function description**
4362 4362  
4363 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;
... ... @@ -4398,9 +4398,10 @@
4398 4398  
4399 4399  **Timing diagram**
4400 4400  
4401 -(% style="text-align:center" %)
4402 -[[image:1761034615747-763.png]]
4391 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml13364\wps21.jpg]]
4403 4403  
4393 +== ==
4394 +
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"]]
4885 +[[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"]]
4892 +[[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.
4906 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4907 +
4908 +
4916 4916  )))|(((
4917 4917  
4918 4918  
4919 -The arc path consists of the starting point, the center point, and theending point.
4912 +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.
4917 +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.
4921 +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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