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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 7.1
edited by Jiahao Lai
on 2025/11/05 13:54
Change comment: There is no comment for this version

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1 -XWiki.Iris
1 +XWiki.Jim258
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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  
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1500 1500  Variable type used
1501 1501  
1502 1502  |=**Instruction**|=**Pin**|=**Parameter**|=**Variable type**|=**Can it be empty**|=**Range**|=**Description**
1503 -|(% colspan="1" rowspan="11" %)(((
1500 +|(% colspan="1" rowspan="10" %)(((
1504 1504  
1505 1505  
1506 1506  
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1543 1543  
1544 1544  Others: Reserved
1545 1545  )))
1546 -|(% colspan="1" rowspan="6" %)(((
1543 +|(% colspan="1" rowspan="5" %)(((
1547 1547  
1548 1548  
1549 1549  
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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
1555 1555  |Error|BOOL|Yes| |Whether there is an error or not
1556 1556  |ErrorID|DWORD|Yes| |Error Code (Please check [8.10 Error Code Cross-reference Table] )
1557 1557  
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1626 1626  MC_SAVECAMTABLE
1627 1627  )))|(% colspan="1" rowspan="2" %)Input|Execute|BOOL|No|TRUE/FALSE|Enable
1628 1628  |CamTableID|INT|No|-|Cam tableID
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
1625 +|(% colspan="1" rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|Busy flag
1626 +|BusY|BOOL|Yes|TRUE/FALSE|Aborted flag
1627 +|InstructionAborted|BOOL|Yes|TRUE/FALSE|Abortion flag
1632 1632  |Error|BOOL|Yes|-|Whether there is an error or not
1633 1633  |ErrorID|DWORD|Yes|-|Error Code (Please check [8.10 Error Code Cross-reference Table]
1634 1634  
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2212 2212  
2213 2213  
2214 2214  
2215 -
2216 -
2217 -
2218 2218  == **Management functions of axis group motion control** ==
2219 2219  
2220 2220  ----
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4893 4893  ----
4894 4894  
4895 4895  (% style="text-align:center" %)
4896 -[[image:123.png||height="659" width="621"]]
4889 +[[image:1709016272018-406.png||height="669" width="631"]]
4897 4897  
4898 4898  === **Axis group motion control status diagram** ===
4899 4899  
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4900 4900  ----
4901 4901  
4902 4902  (% style="text-align:center" %)
4903 -[[image:234.png||height="405" width="669"]]
4896 +[[image:1709016323709-202.png]]
4904 4904  
4905 4905  
4906 4906  === **Arc mode description** ===
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