VA Motion Controller Programming Manual
561
Case 1:When the Execute FALSE to TRUE, after a period, and Busy Active simultaneously
become TRUE, during execution of instructions, a Pause FALSE to TRUE, the operation of the
pause instruction is executed, but still Busy Active TRUE and, when changed from TRUE Pause
after it is FALSE, the controlled shaft work to finish the operation. When the instruction is
complete, Busy and Active becomes FALSE, while Done becomes TRUE. After the Execute cycle
by TRUE to FALSE, Done becomes FALSE.
Case 2:When the Execute FALSE to TRUE, after a period, Busy becomes TRUE and Active
Meanwhile, during the execution of instructions, Stop by the FALSE to TRUE, the end of the
execution of instructions, but Busy and Active remains TRUE until the controlled axes stop, Busy
and Active becomes FALSE, while Done becomes TRUE. After the Execute cycle by TRUE to
FALSE, Done becomes FALSE.
Case 3:When the Execute FALSE to TRUE, the instruction is interrupted by another
instruction, CommandAborted becomes TRUE, and the Busy Active becomes FALSE; Execute
when a TRUE to FALSE CommandAborted becomes FALSE.
Function Description:
This set of instructions for circular interpolation axis
CirMode, Param_R, Param_I, Param_J, Param_K joint decision circular interpolation
mode
CirMode = 0, Param_R
= 0
Param_I = A, A ≠ 0
Param_J = B, B ≠ 0
Param_K = 0
Method XY plane circle center. When using this method, Param_I
representative of the center position with respect to the X axis offset of the
starting position, Param_J representative of the center position with respect to
the Y-axis offset of the starting position.
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