Delta DVP-15MC Series - Page 610

DVP-15MC Series Motion Controller Operation Manual
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11
1
Name Timing for changing to TRUE Timing for changing to FALSE
Active

When the axis is being
controlled by the
instruction.
 When CommandAborted changes to TRUE.
 When Error changes to TRUE.
CommandAborted
 TRUE when the instruction
is aborted by other motion
instruction.

When Ex_Move changes from TRUE to FALSE.
 CommandAborted is set to TRUE when the
instruction is aborted after Ex_Move and Ex_Stop
change 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 illegal.
 When Ex_Move and Ex_Stop change from TRUE to
FALSE.
 Output Update Timing Chart
Ex_Move
Ex_Stop
Invelocity
Stop_Done
Busy
Active
CommandAborted
Case1 Case2
Case3
Error
Error ID
Case 1： When Ex_Move changes from FALSE to TRUE, Busy changes to TRUE. When the axis starts
being controlled by the instruction, Active changes to TRUE. When Ex_Stop changes from
FALSE to TRUE, Invelocity changes to FALSE. When the position is reached, Stop_Done
changes to TRUE and meanwhile, Busy and Active change to FALSE. When Ex_Move and
Ex_Stop change from TRUE to FALSE, Stop_Done changes to FALSE.
Case 2： When Ex_Move changes to TRUE, the instruction is aborted by other instruction and
CommandAborted changes to TRUE. Meanwhile, Invelocity, Busy and Active change to
FALSE. When Ex_Move changes from TRUE to FALSE, CommandAborted changes to
FALSE.
Case 3： When an error occurs while Ex_Move is TRUE, Error changes to TRUE and ErrorID shows
corresponding error code. Meanwhile, Invelocity, Busy and Active change to FALSE. Error
changes to FALSE when Ex_Move changes from TRUE to FALSE.
 Function
DMC_MoveVelocityStopByPos is used for making an axis stop at a specified phase. RoundPhase is
the modulo that the pitch (UnitsPerRotation) corresponds to. StopPhase specifies a phase in the
modulo. The value of StopPhase should be less than the value of RoundPhase.
As Ex_Move changes from FALSE to TRUE, the axis is controlled to run. As Ex_Stop changes from
FALSE to TRUE, the axis is controlled to stop at the phase specified by StopPhase. The final position
where the axis stops equals an integral multiple of the pitch (UnitsPerRotation) +StopPhase
value/RoundPhase value* the pitch value (UnitsPerRotation).
The pitch (UnitsPerRotation) is 10000, RoundPhase is set to 360 and StopPhase is set to 90 as