Chapter 11 Motion Control Instructions
11-381
Name
Timing for changing to
TRUE
Timing for changing to FALSE
CommandAbort
When the instruction
execution is aborted
by other motion
instruction.
When Execute changes from TRUE to FALSE
Error
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
Error ID
Case 1 Case 2 Case 3
Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. Three cycles later,
Active changes to TRUE. When the axes group reaches the end position, Done changes
to TRUE, Busy and Active change to FALSE.
Case 2： When Execute changes from FALSE to TRUE and an error occurs (such as error in state
machine of the axes group), Error changes to TRUE and ErrorID shows corresponding
error codes and meanwhile Busy and Active change to FALSE. When Execute changes
from TRUE to FALSE, Error changes to FALSE.
Case 3： After Execute changes from TRUE to FALSE in the instruction execution, Done changes to
TRUE when the instruction execution is completed. Meantime Busy and Active change to
FALSE. One cycle later, Done changes to FALSE.
Function
DMC_MoveCircularRelative is used for axes to perform the circular interpolation. The firmware of V1.01
and above supports the function.
CirMode (Circular interpolation mode)
There are six CirMode modes as follows.
0
Draw an arc via the center on XY plane. AuxPoint[1] is the offset value of the
center on basis of the start point on X-aixs. AuxPoint[2] is the offset value of the
center on basis of the start point on Y-aixs.
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