Chapter 12 Troubleshooting
1
Parameter name Function Data type
Validation timing
4： mcBlending
_Next
5： mcBlending
_High
（0）
Notes:
1. MC_MoveRelative instruction is executed when Execute changes from FALSE to TRUE. There is no
impact on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the
course of execution.
2. While the instruction is being executed and Execute changes from FALSE to TRUE again, there will be
no impact on the instruction execution and the instruction will continue being executed in the previous
way. When Execute changes from FALSE to TRUE again after the instruction execution is completed,
the instruction can be re-executed and started in the conventional way.
3. Refer to section 10.2 for the relation among Velocity, Acceleration and Jerk.
4. Refer to section 10.3 for details on BufferMode.
Output Parameters
Parameter name Function Data type Valid range
Done TRUE when the instruction execution is completed. BOOL TRUE / FALSE
Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE
Active
TRUE when the axis is being controlled by the
instruction.
BOOL TRUE / FALSE
CommandAborted TRUE when the instruction execution is aborted. BOOL TRUE / FALSE
Error TRUE while there is an error. BOOL TRUE / FALSE
ErrorID
Contains error codes when an error occurs. Please
refer to the section 12.2 for corresponding error
WORD
Output Update Timing
Timing for changing to TRUE Timing for changing to FALSE
Done When positioning is completed.
When Execute changes from TRUE to
FALSE after the instruction execution is
completed.
Done changes to TRUE when the
instruction execution is completed after
Execute changes from TRUE to FALSE
during the instruction execution. One cycle
later, Done changes to FALSE.
Busy When Execute changes to TRUE.
When Done changes to TRUE.
When Error changes to TRUE.
When CommandAborted changes to
Active
When the instruction starts to control the
axis.
When Error changes to TRUE.
When CommandAborted changes to
11-37
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