Delta DVP-15MC Series - Page 625

Chapter 11 Motion Control Instructions
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11
 Output Update Timing Chart
Enable
InTorque
Busy
Active
Error
Case 1
Error ID
Case 3
CommandAborted
Case 2
Case 1： When Enable changes from FALSE to TRUE, Busy changes to TRUE. When the instruction
starts to control the axis, Active changes to TRUE. InTorque changes to TRUE when the set
target torque is reached. When Enable changes from TRUE to FALSE, Busy, Active and
Intorque change to FALSE.
Case 2： When the 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 is illegal (such as axis number: 0) before the instruction is executed.
When Enable changes from FALSE to TRUE, Busy changes to TRUE and one cycle later,
Error changes to TRUE, Busy changes to FALSE and ErrorID shows corresponding error
codes. When Enable changes from TRUE to FALSE, Error changes from TRUE to FALSE and
the value of ErrorID is cleared to 0.
 Function
DMC_TorqueControl controls an axis to work under torque mode and carry out the torque output.
Based on the set change rate of the torque, axis motion will change in the process from current toque
to target torque. If the torque value is modified during the execution of the instruction, the torque of the
servo will immediately change according to the change rate of the torque and then the servo will keep
the torque value for motion. During the execution of the instruction, the instruction will control the
velocity of the axis not to exceed the set maximum velocity.
To stop the instruction, change Enable to FALSE or use MC_Stop to make the instruction aborted.
When Enable changes from TRUE to FALSE, the axis will exit from the torque mode and the torque will
change immediately (the change rate of the torque will be invalid). If the axis needs to stop gradually
according to the change rate of the torque, just set the target torque to 0, wait for the actual output
torque of the axis to change to 0 and then change Enable to FALSE.
 Programming Example
2. The variable table and program
Variable name
Data type
Initial value
Pwr MC_Power
Axis1
USINT
1
Pwr_En
BOOL
FALSE
Pwr_EnPs
BOOL
FALSE
Pwr_BM
MC_Buffer_Mode
0
Pwr_Sta
BOOL
Pwr_Bsy BOOL
Pwr_Act
BOOL
Pwr_Err
BOOL