Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-16
11
1
MC_Home
FB/FC Explanation Applicable model
FB
MC_Home controls the servo motor to perform the homing action
according to the set mode and velocity. DVP15MC11T
DVP15MC11T-06

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of
the axis which is to be
controlled.
USINT
Refer to Functions of
Section 2.2.
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Execute
The instruction is
executed when
Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
Position
The servo home point
offset, Unit: unit.
LREAL
Negative number,
positive number and
0
（
0
）
When Execute
changes from
FALSE to TRUE
BufferMode Reserved - - -

Output Parameters
Parameter name Function Data type Valid range
Done TRUE when the homing is completed. BOOL TRUE / FALSE
Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE
Active TRUE when the axis is being controlled. BOOL TRUE / FALSE
CommandAborted TRUE when the instruction is aborted. BOOL TRUE / FALSE
Error
TRUE when an error occurs in execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs. Please
refer to section 12.2 for the corresponding error ID.
WORD

Output Update Timing
Parameter Name Timing for changing to TRUE Timing for changing to FALSE
Done

When homing is completed.

When Execute changes from
TRUE to FALSE after the
instruction execution is completed.

Done changes to TRUE when the
instruction execution is completed
after
Execute changes from TRUE
to FALSE during the instruction
MC_Home
Ax is Done
MC_Home_instanc e
Ex ecut e
Pos ition
Busy
Act iv e
Buf ferMode
Error
E rrorID
CommandAborted