Chapter 11 Motion Control Instructions
11-71
Output Update Timing
Parameter Name Timing for changing to TRUE Timing for changing to FALSE
Done
When the instruction execution 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
Busy
When Execute changes to TRUE.
When Done changes to TRUE.
When Error changes to TRUE.
When CommandAborted changes
Active
When the instruction starts to control the
axis.
When Done changes to TRUE.
When Error changes to TRUE.
When CommandAborted changes
CommandAborted
When this instruction execution is
aborted by other motion control
instruction.
Execute
TRUE to FALSE
CommandAborted is set to TRUE
when the instruction is aborted
after Execute changes from TRUE
to FALSE during the instruction
execution. One cycle later,
CommandAborted changes to
Error
When an error occurs in the instruction
execution or the input parameters for the
When Execute changes from
TRUE to FALSE
Output Update Timing Chart
Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. One cycle later,
Active changes to TRUE. When the instruction execution is completed, Done changes to
TRUE and Busy and Active change to FALSE.
Execute
Done
Busy
Active
CommandAborted
Error
Case 1 Case 2 Case 3 Case 4
Error I D
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