Delta DVP-15MC Series, Operation Manual

Page: 479 / 972

Chapter 11 Motion Control Instructions
11-9
11
5. When Enable is TRUE and EnableNegative is FALSE, the axis specified by a motion instruction is
prohibited to move in the negative direction. In this case, there will be an error in existence if some
motion instruction is used to move the axis backward. If the axis moves from forward to backward,
the instruction which is controlling the motion of the axis will be aborted and the axis will stop moving
and enter the state of Standstill.
6. When the axis moves in the positive direction and EnablePositive changes from TRUE to FALSE,
the axis will decelerate its speed at the deceleration rate specified by the current motion instruction
controlling the axis and finally stop at the velocity of 0. When the axis moves in the negative direction
and
EnableNegative changes from TRUE to FALSE, the axis will decelerate its speed at the
deceleration rate specified by the current motion instruction controlling the axis and finally stop at the
velocity of 0.
7. In principle, only one MC_Power can be used for one axis. If there are two MC_Power instructions
in the program where the same axis is controlled, please refer to the execution result of the
MC_Power which is executed late.
8. While a motion instruction is controlling the axis, Enable of MC_Power changes from TRUE to FALSE
and whether the axis enters the Disable state depends on the value of Buffermode.
9. Buffermode
BufferMode specifies the behavior of MC_Power when Enable changes from TRUE to FALSE.
Input BufferMode
selection
Function
Enable
0:
mcAborting
(Interrupt)
When Enable changes from TRUE to FALSE, the axis will stop
moving immediately and become disabled (The state machine enters
the state of Disabled).
Precaution: Be cautious during operation in case of any danger
to personnel or devices!
1:
mcBuffered
(Waiting)
When Enable changes from TRUE to FALSE, the axis will not enter
the Disabled state immediately. Only when the axis stops moving, the
state machine goes to the Standstill state first and one cycle later, it
enters the Disabled state.

Programming Example 1
The example of MC_Power instruction execution
When Pwr_En is TRUE and Pwr_EnPs
is FALSE, the axis specified by the motion instruction is
forbidden to move in the positive direction. While the axis is moving in the positive direction and
Pwr_EnPs
changes from TRUE to FALSE, the axis will decelerate its speed at the deceleration rate
specified by the current motion instruction controlling the axis till the velocity of the axis reaches 0.
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 0
Pwr_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Vel MC_MoveVelocity