Chapter 11 Motion Control Instructions
11-47
1. MC_MoveAdditive instruction is executed when Execute changes from FALSE to TRUE. There is no
impact on the instruction execution when Execute of the instruction in the course of execution
changes from TRUE to FALSE.
2. When Execute of the being executed instruction changes from FALSE to TRUE again, there is no
impact on the instruction execution and the instruction will go on 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 Position, 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 is completed. BOOL TRUE / FALSE
Busy
TRUE when the instruction is being executed.
BOOL TRUE / FALSE
Active
TRUE when the axis is being controlled.
BOOL TRUE / FALSE
CommandAborted
TRUE when the instruction is aborted.
BOOL TRUE / FALSE
Error
TRUE while there is an error.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs. Please
refer to the section 12.2.
WORD
Output Update Timing
Parameter Name Timing for changing to TRUE Timing for changing to FALSE
Done
When additive positioning is
completed.
When Execute changes from TRUE to
FALSE after the instruction execution is
done.
Done changes to TRUE when the
instruction execution is completed after
Execute changes from TRUE to FALSE
during the instruction execution. One
period 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
TRUE.
Active
When the instruction starts
controlling the axis.
When Done changes to TRUE.
When Error changes to TRUE.
When CommandAborted changes to
CommandAborted
When the instruction execution is
aborted by some other motion
control instruction
When Execute changes from TRUE to
FALSE.
CommandAborted is set to TRUE when
the instruction execution is aborted
after Execute changes from TRUE to
FALSE during 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
When Execute changes from TRUE to
FALSE.
Output Update Timing Chart
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