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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 9.2
edited by Iris
on 2026/03/28 17:32
Change comment: There is no comment for this version
To version 11.1
edited by Iris
on 2026/03/30 11:39
Change comment: There is no comment for this version

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... ... @@ -2215,6 +2215,7 @@
2215 2215  
2216 2216  
2217 2217  
2218 +
2218 2218  == **Management functions of axis group motion control** ==
2219 2219  
2220 2220  ----
... ... @@ -3828,11 +3828,11 @@
3828 3828  
3829 3829  **Function**
3830 3830  
3831 -* 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.
3832 +* 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.
3832 3832  * 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;
3833 3833  * 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;
3834 -* 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;
3835 -* The MC _ MoveVelocity function block can be triggered repeatedly multiple times.
3835 +* 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;
3836 +* The MC_ MOVEVELOCITY_CSV function block can be triggered repeatedly multiple times.
3836 3836  
3837 3837  **Error code**
3838 3838  
... ... @@ -3888,7 +3888,11 @@
3888 3888  
3889 3889  VELOCITY
3890 3890  )))|Execute|BOOL|No|TRUE/FALSE|Enable
3891 -|Velocity|LREAL|No|[0,999999999.999999]|Setting velocity
3892 +|Velocity|LREAL|No|(((
3893 +[-999999999.999999,99999
3894 +
3895 +9999.999999]
3896 +)))|Setting velocity
3892 3892  |Axis|(((
3893 3893  WORD
3894 3894  
... ... @@ -4895,6 +4895,20 @@
4895 4895  (% style="text-align:center" %)
4896 4896  [[image:123.png||height="659" width="621"]]
4897 4897  
4903 +**✎Note**: Continuous line arrows indicate transitions via command. Dashed line arrows indicate automatic transitions, which occur when a command on an axis ends or a related system transition occurs (e.g., a related error).
4904 +
4905 +① The transition condition for any state to fault stop or deceleration stop is: a fault occurs on the axis.
4906 +
4907 +② The transition condition for any state to off is: MC_Power.Enable = FALSE and there is no fault on the axis.
4908 +
4909 +③ MC_Reset = FALSE and MC_Power.Status = FALSE.
4910 +
4911 +④ MC_Reset = TRUE, MC_Power.Status = TRUE, and MC_Power.Enable = TRUE.
4912 +
4913 +⑤ MC_Power.Enable = TRUE and MC_Power.Status = TRUE.
4914 +
4915 +⑥ MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
4916 +
4898 4898  === **Axis group motion control status diagram** ===
4899 4899  
4900 4900  ----
... ... @@ -4902,7 +4902,18 @@
4902 4902  (% style="text-align:center" %)
4903 4903  [[image:234.png||height="405" width="669"]]
4904 4904  
4924 +**✎Note**: For all states in the diagram could be transitioned to GroupDisabled state by MC_GroupDisable or MC_UngroupAllAxes.
4905 4905  
4926 +① Applies to all non-administrative (i.e., motion control) function blocks.
4927 +
4928 +② In the GroupErrorStop or GroupStopping state, all function blocks can be invoked, although they are not executed (except that MC_GroupReset is executed in the GroupErrorStop state and any other errors are generated). In exceptional cases, GroupErrorStop or GroupStopping will transition to GroupStandby or GroupErrorStop accordingly.
4929 +
4930 +③ MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
4931 +
4932 +④ The state transition is available if the last axis is removed from the axis group.
4933 +
4934 +⑤ The transition is available when the axis group is non-empty.
4935 +
4906 4906  === **Arc mode description** ===
4907 4907  
4908 4908  ----