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6 Motion Control Programming
6-8
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-4 Execution and Status of Motion
Control Instructions
Variables that represent the execution status of instructions and variables that are used to execute
motion control instructions are defined in the MC Function Module. There are two input variables that
you use to execute motion control instruction functions:
Execute and Enable . The following output vari-
ables indicate the execution status of an instruction: Busy, Done, CommandAborted , and Error.
The basic rules for the MC Function Module are listed in the following table. You can find execution
examples in
6-4-2 Execution Timing Charts . Refer to these examples as well.
6-4-1 Basic Rules for Execution of Instructions
Item Rule
Exclusiveness of out-
puts The following output variables are exclusively controlled and only one of them can be
TRUE at the same time:
Busy , Done , Error , and CommandAborted .
Similarly, only one of the following output variables can be TRUE at the same time:
Active , Done , Error , and CommandAborted .
Busy and Active may be TRUE at the same time in some cases.
Output status The output variables Done , InGear (Gear Ratio Achieved), InSync , InVelocity (Target
Velocity Reached), and CommandAborted change to FALSE when the input variable
Execute changes to FALSE. The actual execution of a motion control instruction is not
stopped when Execute changes to FALSE. Even if Execute changes to FALSE before the
instruction finishes execution, the corresponding output variable will be TRUE for at least
one period if the status of the instruction instance changes.
The output variable
Error will not reset to FALSE and the output variable ErrorID (Error
Code) will not reset to 0 until you execute one of the following instructions: MC_Reset,
MC_GroupReset, or ResetMCError.
*1
If the Execute variable of the same instruction instance changes to TRUE again (i.e., if
the instruction is restarted) during the execution of a motion control instruction, the Com-
mandAborted variable will not change to TRUE.
Input parameters For motion control instructions that are started with the input variable Execute , the values
of the input parameters when Execute changes to TRUE are used. For motion control
instructions that start for the input variable Enable , the current values of the input param-
eters during each period when Enable is TRUE are used.
Omitting input param-
eters
The default value applies if you omit an input parameter for an instruction instance.
*2
Position (Target Posi-
tion) and Distance
(Travel Distance)
The input variable Position is defined as a value in the coordinate system. The input vari-
able Distance is the relative length, i.e., it is the difference between two positions.
Sign rules The input variables Acceleration , Deceleration , and Jerk are non-negative values. Posi-
tion (Target Position), Distance (Travel Distance), and Velocity (Target Velocity) can be
positive, negative, or 0.