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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 5.4
edited by Iris
on 2025/10/22 15:17
Change comment: There is no comment for this version

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Details

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... ... @@ -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  
... ... @@ -2209,10 +2209,6 @@
2209 2209  
2210 2210  
2211 2211  
2212 -
2213 -
2214 -
2215 -
2216 2216  == **Management functions of axis group motion control** ==
2217 2217  
2218 2218  ----
... ... @@ -4891,7 +4891,7 @@
4891 4891  ----
4892 4892  
4893 4893  (% style="text-align:center" %)
4894 -[[image:123.png||height="659" width="621"]]
4887 +[[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"]]
4894 +[[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.
4908 +The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4909 +
4910 +
4916 4916  )))|(((
4917 4917  
4918 4918  
4919 -The arc path consists of the starting point, the center point, and theending point.
4914 +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.
4919 +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.
4923 +The major arc and minor arc are determined by path choice.
4929 4929  )))
4930 4930  |(((
4931 4931  
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