Delta DVP-15MC Series User Manual

Chapter 11 Motion Control Instructions
11-33
11
MC_Stop
FB/FC Explanation Applicable model
FB
MC_Stop is used to make the axis decrease its speed at a given
deceleration rate till it stops and then the axis goes into the Stopping state.
DVP15MC11T
DVP15MC11T-06
 Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of the
axis which is to be
controlled
USINT
Refer to Functions
of Section 2.2.
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Execute
The instruction is
executed when Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
Deceleration
Specify the target
deceleration rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Jerk
Specify the change rate of
the target acceleration or
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Note:
1. MC_Stop instruction is executed when Execute changes from FALSE to TRUE. There is no impact
on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the
course of the instruction execution.
2. While Execute changes from FALSE to TRUE once more in the course of execution of MC_Halt,
there is no impact on the instruction execution and the instruction will continue being executed in the
previous way. When Execute changes from FALSE to TRUE once again after the instruction
execution is completed, the instruction can be re-executed.
3. Refer to section 10.2 for the relation between Deceleration and Jerk.
 Output Parameters
Parameter name Function Data type Valid range
Done
TRUE when the instruction execution is completed.
BOOL
TRUE/FALSE
Busy
TRUE when the instruction is
being executed. BOOL
TRUE/FALSE
Active
TRUE when the axis is being controlled.
BOOL
TRUE/FALSE
CommandAborte
d
TRUE when the instruction is aborted.
BOOL
TRUE/FALSE
Error
TRUE when there is an error.
BOOL
TRUE/FALSE
ErrorID
Contains error codes when an error occurs. Please refer
to section 12.2 for the corresponding error code.
WORD
 Output Update Timing
MC_Stop
Axis Done
MC_Stop_instance
Execute
Deceleration
Busy
Active
Jerk
Error
ErrorID
CommandAborted

Delta DVP-15MC Series Specifications

General

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