Chapter 11 Motion Control Instructions
11-125
Parameter name Function Data type Valid range
RecordedPosition
The captured position after the completion of the
instruction execution. Refer to the following Function
LREAL
Output Update Timing
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
Busy
When Execute changes to TRUE.
When Done changes to TRUE.
When Error changes to TRUE.
When CommandAborted changes to
Active
When Execute changes to TRUE.
Done
When Error changes to TRUE.
When CommandAborted changes to
CommandA
borted
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
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
Execute
Done
Busy
Active
CommandAbort
Error
Case 1 Case 2 Case 3
Error ID
Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period later,
Active changes to TRUE. When positioning is completed, Done changes to TRUE and meanwhile
Busy and Active change to FALSE.
Case 2： When Execute changes from FALSE to TRUE and the instruction is aborted by other instruction,
Commandaborted changes to TRUE and meanwhile Busy and Active change to FALSE. When
Execute changes from TRUE to FALSE, CommandAborted changes to FALSE.
To Next Page
Loading...
