Delta DVP-15MC Series User Manual

Chapter 8 Logic Instructions
8-329
8_
8.19.1.2 CANmotion_NodeDiag
FB/FC
Explanation Applicable model
FB
CANmotion_NodeDiag is used for the diagnosis of the state of the
specified axis connected to Motion port.
DVP15MC11T
DVP15MC11T-06
CANmotion_NodeDiag
Enable
CANmotion_NodeDiag_instance
SlaveNode
Done
Error
ErrorID
InitDone
ParaError
PDOMappingFailure
AutoSDOFailure
NodeIDSame
NodeOffline
ServoAlarm
 Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Enable
The instruction is
executed when Enable
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
When Enable
changes to TRUE.
SlaveNode
Number of the axis which
is diagnosed.
USINT
1~32
(The variable
value must be set)
When Enable
changes to TRUE.
 Output Parameters
Parameter name Function Data type Valid range
Done TRUE when the instruction execution is completed. BOOL TRUE/FALSE
Error
TRUE when there is an error in the execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs.
Please refer to section 12.2.
WORD
InitDone TRUE when the slave axis initializing is finished. BOOL TRUE / FALSE
ParaError
TRUE when the key parameters of the slave axis are
inconsistent.
BOOL TRUE / FALSE
PDOMappingFailure TRUE when the slave axis PDO mapping fails. BOOL TRUE / FALSE
AutoSDOFailure
TRUE when the setting for Auto SDO of the slave axis
fails.
BOOL TRUE / FALSE
NodeIDSame
TRUE when the station addresses of the master and
slaves are duplicated.
BOOL TRUE / FALSE
NodeOffLine TRUE when the slave axis is offline. BOOL TRUE / FALSE
ServoAlarm Recods servo’s alarm code. UINT
 Output Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Done

TRUE when the instruction
execution succeeds.

When Error changes to TRUE.
 When Enable changes to FALSE.

Delta DVP-15MC Series Specifications

General

Brand	Delta
Model	DVP-15MC Series
Category	Controller
Language	English