4. Motion Control Instructions 4.8.5.2 Absolute/ Relative Mode Switching Instruction The two instructions are used to specify the mode for dealing with the terminal position of each axis such as absolute mode or relative mode. After the instruction “DNC_Group” with same GroupID is executed, the two instructions just can be executed. Instruction explanation: After DNC_Absolute (G90) is executed, the terminal position of each axis in the coordinate motion instruction which is executed later is based on 0 unit and DNC_Relative (G91) can be used to switch to the relative mode. It is absolute mode for the program by default.
After DNC_ Relative (G91) is executed, the terminal position of each axis in the coordinate motion instruction which is executed later is calculated with the incremental value beginning from current position and DNC_Absolute (G90) is used to switch to the absolute mode. Explanation of input and output parameter of the instruction: DVP-MC operating manual 4-217 In absolute mode Controller API DNC Absolute（G90） _ 10MC11T 262 DNC Relative（G91） _ In relative mode Parameter Data Available Explanation name type device Execute This instruction is executed when “Execute” turns Off ->On. BOOL M, I, Q, constant GroupID The number of the coordinate motion instruction group, range: 0~7.
When the instruction is executed, the group ID should be consistent with that of DNC Group. _ UINT Constant, D Done When execution of the instruction is finished, “Done” is on; when “Execute” is off, “Done” is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D