Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-28
11
1
MC_Halt
FB/FC Explanation Applicable model
FB
MC_Halt is used to make the axis decelerate at a given deceleration rate
till it stops. 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)
-
Deceleration
Specify the target
deceleration rate.
(Unit: Unit/s
2 )
LREAL
Positive number
(The variable value
must be set)
When Execute changes
from FALSE to TRUE
Jerk
Specify the change rate
of the target
acceleration or
deceleration.
(Unit: Unit/s
3 )
LREAL
Positive number
(The variable value
must be set)
When Execute changes
from FALSE to TRUE
BufferMode
Specify the behavior
when executing two
instructions.
0: Aborting
1: Buffered
MC_Buffer_
Mode
0: mcAborting
1: mcBuffered
(0)
When Execute changes
from FALSE to TRUE
Note:
1. MC_Halt instruction is executed when Execute changes from FALSE to TRUE. There is no impact
on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the
course of the instruction execution.
2. While Execute changes from FALSE to TRUE once more in the course of execution of MC_Halt,
there is no impact on the instruction execution and the instruction will continue being executed in the
previous way. When
Execute changes from FALSE to TRUE once again after the instruction
execution is completed, the instruction can be re-executed.
3. Refer to section10.2 for the relation between Deceleration and Jerk .
4. Refer to section10.3 for details on BufferMode .
MC_Halt
Ax is Done
MC_Ha lt_ins tance
Ex ecut e
Deceleration
Busy
Act iv e
Jerk
Error
E rrorID
CommandAborted
Buf ferMode