Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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different meaning when the value of the input DiagType varies.
When the value of the input DiagType is 1, the value of Node means whether axes are configured in the
software. TRUE means that axes are configured in the software. FALSE means axes are not configured
in the software.
When the value of the input
DiagType is 2, the value of Node means whether axes make the connection
with Motion port. TRUE means the connetion is made. FALSE means the connetion is not made.
When the value of the input
DiagType is 3, the value of Node means whether axes release Emergency
message. TRUE means Emergency message has been sent. FALSE means Emergency message has
not been sent.
E.g. if the vlaue of
DiagType is 2 and the variable of the output Node is a, the value of a[1] is TRUE when
axis 1 and Motion port make the connection and the value of a[1] is FALSE when the CANmotion cable
of axis 1 is removed.

Programming Example
1. The variable table
Variable name Data type Initial value
CMSD CANmotion_SysDiag
CMSD_EN BOOL
CMSD_DT USINT 2
CMSD_Node ARRAY [1..32] OF BOOL
2. The program
1
CA Nmotion_SysDiag
Enable Done
CM SD
DiagType Error
ErrorID
Node CM S D_Node
C MS D_En
CM SD_DT
From the values of members of the CMSD_Node array, you can figure out if the corresponding axis is
connected to Motion communication port of the controller or not.
If CMSD_Node[1]=1, it indicates that axis 1 and Motion communication port have been connceted, if the
CMSD_Node[1]=0, it indicates that axis 1 and Motion communication port have not been connected.
The possible reason is that the communication cable between Motion communication port and axis 1 is
not connected properly or the communication cable is unplugged after being plugged in.
For the connection of axis 2 to Motion communication port, you can use the value of CMSD_Node[2] to
judge whether the connection is successful or not.
For the connection of other axes to Motion communication port, use the same way to judge whether the
connection is successful or not.