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Delta DVP-15MC Series User Manual

Delta DVP-15MC Series
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Chapter 11 Motion Control Instructions
11-111
Case 2 When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE and
ConstantVelocity, Accelerating, Decelerating, DirectionPositive and DirectionNegative remain the
state for when Enable is TRUE.
Case 3 When the value of Axis is out of the valid range and Enable changes from FALSE to TRUE, Busy
changes from FALSE to TRUE, one period later, Error changes from FALSE to TRUE and ErrorID
shows corresponding error codes. Meanwhile, Busy changes from TRUE to FALSE. Error
changes from TRUE to FALSE and the value of ErrorID becomes 0 as Enable changes from
TRUE to FALSE.
Function
MC_ReadMotionState is used to read current motion state of the servo axis. The motion state of the
servo axis includes the constant motion, acceleration or deceleration, positive rotation and negative
rotation.
Programming Example
This example of the execution of MC_ ReadMotionState is shown as below.
1. The variable table and program
Variable name
Data type
Initial value
Pwr
MC_Power
Axis1
USINT
1
Pwr_En
BOOL
FALSE
Pwr_Sta
BOOL
Pwr_Bsy
BOOL
Pwr_Act
BOOL
Pwr_Err BOOL
Pwr_ErrID
WORD
Rel1
MC_MoveRelative
Rel1_Ex
BOOL FALSE
Rel1_Done
BOOL
Rel1_Bsy
BOOL
Rel1_Act
BOOL
Rel1_Abt
BOOL
Rel1_Err
BOOL
Rel1_ErrID
WORD
Rel2
MC_MoveRelative
Rel2_Ex
BOOL
FALSE
Rel2_Done
BOOL
Rel2_Bsy
BOOL
Rel2_Act
BOOL
Rel2_Abt
BOOL
Rel2_Err
BOOL
Rel2_ErrID
WORD
ReadMoSt
MC_ReadMotionState
ReadMoSt_En
BOOL
FALSE
ReadMoSt_Vald
BOOL
ReadMoSt_Bsy
BOOL
ReadMoSt_Err
BOOL

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Delta DVP-15MC Series Specifications

General IconGeneral
BrandDelta
ModelDVP-15MC Series
CategoryController
LanguageEnglish

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