Chapter 11 Motion Control Instructions
11-223
Name Timing for changing to TRUE
Timing for changing to FALSE
Valid
When the instruction
execution is completed.
When Enable changes to FALSE.
Busy
When Enable is TRUE.
When Done changes to TRUE.
When Error changes to TRUE.
Error
When any of the input
parameters is illegal.
When Enable changes from TRUE to FALSE.
Output Update Timing Chart
En able
Valid
Busy
Error
Error ID
Case 1 Case 2
Case 1： When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE. When Enable
changes to FALSE, Valid and Busy change to FALSE.
Case 2： When an error occurs, Error changes to TRUE and ErrorID shows corresponding error code.
Meanwhile Busy changes to FALSE. Error changes to FALSE when Enable changes from
TRUE to FALSE and then the value of ErrorID is cleared to 0.
Functions
The tappet point information includes the master axis position and the modes when the tappet point is
passed in the positive direction and in the negative direction. When the axis runs forward, a tappet
point can select PositiveDisable, PositiveOn, PositiveOff or PositiveInvert. When the axis runs
reversely, a tappet point can select NegativeDisable, NegativeOn, NegativeOff or NegativeInvert. The
meanings of modes are listed in the following table.
Mode Function Explanation
PositiveDisable Disabled
When the master axis passes the tappet point in the positive direction,
the status of the tappet point which is read has no change.
PositiveOn ON
When the master axis passes the tappet point in the positive direction,
the status of the tappet point which is read is ON.
PositiveOff OFF
When the master axis passes the tappet point in the positive direction,
the status of the tappet point which is read is OFF.
PositiveInvert Invert
When the master axis passes the tappet point in the positive direction,
the status of the tappet point which is read will be OFF if the status of
the tappet point is ON before the tappet point is passed in the positive
direction. Otherwise, the status of the tappet point which is read will be
ON if the status of the tappet point is OFF before the tappet point is
passed in the positive direction.
NegativeDisable Disabled
When the master axis passes the tappet point in the negative direction,
the status of the tappet point which is read has no change.
NegativeOn ON
When the master axis passes the tappet point in the negative direction,
the status of the tappet point which is read is ON.
NegativeOff OFF
When the master axis passes the tappet point in the negative direction,
the status of the tappet point which is read is OFF.
NegativeInvert Invert
When the master axis passes the tappet point in the negative direction,
the status of the tappet point which is read will be OFF if the status of
the tappet point is ON before the tappet point is passed in the negative
direction. Otherwise, the status of the tappet point which is read will be
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