Chapter 12 Troubleshooting
1
Name Timing for changing to TRUE Timing for changing to FALSE
CommandAborted
When the instruction execution is
aborted by other motion instruction
When Execute changes from TRUE to
FALSE
CommandAborted is set to TRUE when the
instruction is aborted by other instruction
after Execute changes from TRUE to
FALSE in the course of the instruction
execution. One period later,
CommandAborted changes to FALSE
Error
When an error occurs in the
instruction execution or the input
parameters for the instruction are
illegal
When Execute changes from TRUE to
FALSE.
Output Update Timing Chart
Case 1： Busy changes to TRUE as Execute changes from FALSE to TRUE. One period later, Done
changes to TRUE. Busy and Done remain TRUE after Execute changes from TRUE to FALSE.
Case 2： If the MC_GearOut instruction is aborted by other instruction as Execute changes to TRUE,
CommandAborted changes to TRUE and meanwhile Busy and Done change to FALSE.
CommandAborted changes to FALSE as Execute changes from TRUE to FALSE.
Case 3： When an error occurs (e.g. the axis is disabled), Error changes to TRUE and ErrorID shows
corresponding error codes after Execute changes from FALSE to TRUE. Meanwhile, Busy and
Done change to FALSE. As Execute changes from TRUE to FALSE, Error changes to FALSE.
Case 4： Execute changes from TRUE to FALSE before a period is reached during execution of the
MC_GearOut instruction. Done changes to TRUE and Busy remains TRUE as a period is
reached.
Programming Example
Below is the example of the execution of the MC_GearOut instruction.
1. The variable table and program
Vel_Ex
BOOL
FALSE
Execute
Done
Busy
CommandAborted
Error
Error ID
Case1
Case2
Case4
Case3
11-135
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