4. Motion Control Instructions Notes: 1. While MC_MoveAbsolute instruction is being executed, “Execute”: rising edge occurs, which does not impact the execution of the instruction. 2. When the velocity, acceleration and deceleration of the instruction are read and written via human man interface, their value types must be set as Double Word （ Floating ） 3. When direction values are different, motion directions of rotary axis are also different as follows. Suppose the output unit of physical actuator is degree, the motion direction of rotary axis is explained as below.
4-10 DVP-MC operating manual Parameter Data Available Explanation name type device Done When absolute position execution is finished, "Done" turns on; when “execute” is off, "Done" is reset. BOOL M,Q Abort When this instruction execution is aborted, "Abort" turns on; when “Execute” is off, "Abort" is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when “Execute” is off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to selection 5.3. UINT D Direction: 1 (Positive direction) Direction: -1 (Negative direction) Current position: 315° Current position: 315° Target position: 90° Target position: 90° Movement angle: 135° Movement angle: 225°