Delta Electronics DVP15MC11T, Operation Manual

Page: 332 / 601

Chapter 12 Troubleshooting
11

When Pwr_EnPs is TRUE and Vel _Ex changes to TRUE for the second time, Vel _Bsy
changes to TRUE; one cycle later, Vel _Act changes to TRUE and the servo motor starts
moving in the positive direction. When the servo motor reaches the target velocity, Vel _Invel
changes to TRUE.

When Pwr_EnPs changes to FALSE, MC_Velocity instruction is aborted and the servo motor
begins to decelerate its speed at the deceleration rate specified by MC_Velocity instruction.
When the velocity is decreased to 0, CommandAborted changes to TRUE.

When Vel _Ex changes to FALSE, Vel _Abt changes to FALSE.

When Pwr_En changes to FALSE, Pwr_Sta change to FALSE after the axis is disabled.

Programming Example 2
The example of Vel _BM =0
When the value of Vel _BM is set to 0 and Pwr_En changes from TRUE to FALSE, the axis will enter the
Disabled state and the velocity will be decreased to 0 immediately.
1. The variables 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 1
Pwr_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Vel MC_MoveVelocity
Vel _Ex BOOL FALSE
Vel _Dir MC_DIRECTION 1
Vel _BM MC_Buffer_Mode 0
Vel _Invel BOOL
Vel _Bsy BOOL
Vel _Act BOOL
Vel _Abt BOOL
Vel _Err BOOL
Vel _ErrID WORD
Stp MC_Stop
Stp _Ex BOOL FALSE
Stp _Done BOOL
Stp _Bsy BOOL
Stp _Act BOOL
Stp _Abt BOOL
Stp _Err BOOL
Stp _ErrID WORD
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