Chapter 11 Motion Control Instructions
11-337
positions to end positions for axes.
3. The input BufferMode of DMC_MoveDirectRelative only supports mcBuffered mode. If other mode is
selected, an error will occur when the instruction is executed. For details on BufferMode, refer to
section 10.3.
4. The input TransitionMode of DMC_ MoveDirectRelative only supports mcTMNone mode. If other
mode is selected, an error will occur when the instruction is executed.
5. The value of the input TransitionParameter of DMC_ MoveDirectRelative instruction is invalid.
Output Parameters
Done
TRUE when the instruction execution is
completed.
BOOL TRUE / FALSE
TRUE when the instruction is being executed.
TRUE when the instruction is controlling axes.
TRUE when the instruction execution is aborted.
Error
TRUE when an error occurs in execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs.
Please refer to section 12.2.
WORD
Output Update Timing
Timing for changing to TRUE
Timing for changing to FALSE
Done
When the end positions are
reached.
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 changes to
Busy
When Execute changes to
TRUE
When Done changes to TRUE
When Error changes to TRUE
When CommandAbort changes to TRUE
Active
When the
controlling axes.
When Done changes to TRUE
When Error changes to TRUE
When CommandAbort changes to TRUE
CommandAbort
When the instruction execution
is aborted by other motion
instruction.
When Execute changes from TRUE to FALSE
Error
When an error occurs in the
instruction execution or the
input parameters for the
When Execute changes from TRUE to FALSE
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