Chapter 12 Troubleshooting
1
Parameter name Function Data type Valid range
Please refer to section 12.2 for the corresponding
error ID.
Output Update Timing
Timing for changing to TRUE
Timing for changing to FALSE
InTorque
When the target torque is
reached.
Error
When Enable changes from TRUE to
Busy When Enable changes to TRUE
When InTorque changes to TRUE.
When Error changes to TRUE.
Active
When the instruction starts to
control the axis
When InTorque changes to TRUE.
When Error changes to TRUE.
CommandAborted
When this instruction execution is
aborted by other motion control
instruction.
Enable
FALSE
CommandAborted is set to TRUE when
the instruction is aborted after Enable
changes from TRUE to FALSE during the
instruction execution. One cycle later,
CommandAborted changes to FALSE.
Error
When an error occurs in the
instruction execution or the input
parameters for the instruction are
When Enable changes from TRUE to
FALSE
Output Update Timing Chart
Case 1： When Enable changes from FALSE to TRUE, Busy changes to TRUE in the same cycle. Active
changes to TRUE in the next cycle and InTorque changes to TRUE in the 3
rd
cycle. When
Enable changes from TRUE to FALSE, Busy, Active and InTorque change to FALSE in the
same cycle.
Case 2： When the DMC_SetTorque instruction is aborted by MC_Stop after Enable changes from
FALSE to TRUE, CommandAborted changes to TRUE and meanwhile, InTorque, Busy and
Active change to FALSE. When Enable changes from TRUE to FALSE, CommandAborted
changes to FALSE.
Case 3： The input parameter value is illegal such as the axis number: 0 before the DMC_SetTorque
instruction is executed. Busy changes to TRUE when Enable changes from FALSE to TRUE.
One cycle later, Error changes to TRUE, Busy changes to FALSE and ErrorID shows
Enable
InTorque
Busy
Active
Error
Case 1
Error ID
Case 3
CommandAborted
Case 2
11-91
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