Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-35
11

Output Update Timing Chart
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period
later, Active changes to TRUE. When the deceleration ends and the axis speed is
decreased to 0, Done changes to TRUE and Busy and Active remain TRUE.
Case 2
：
When the MC_Stop instruction is aborted by another MC_Stop instruction after Execute
changes from FALSE to TRUE, CommandAborted changes to TRUE and meanwhile
Busy and Active change to FALSE. When Execute changes from TRUE to FALSE,
CommandAborted changes to FALSE.
Case 3
：
When an error occurs such as axis alarm or Offline after Execute changes from FALSE to
TRUE, Error changes to TRUE and ErrorID shows the corresponding error code. And
Meanwhile, Busy and Active change to FALSE. Error changes to FALSE when Execute
changes from TRUE to FALSE.
Case 4
：
In the course of execution of the instruction, Done changes to TRUE and Busy and Active
remain TRUE when the instruction execution is completed after Execute changes from
TRUE to FALSE. One period later, Done, Busy and Active all change to FALSE.

Function
MC_Stop is used to make the axis decrease its speed at a given deceleration rate till it stops.

As long as Execute is TRUE after execution of MC_Stop is completed and the axis velocity is
decreased to 0, the axis state will be in the Stopping state all the time. And during that period, other
motion instruction can not be executed.

If there are two MC_Stop instructions in the program for controlling the same axis, the previously
being executed MC_Stop will be aborted by the later executed MC_Stop instruction.

Compared to MC_Halt instruction, MC_Stop instruction will make the axis locked and thus the
controller cannot perform other motion instruction excluding MC_Stop during MC_Stop execution.
The controller still cannot perform other motion instructions when the execution of MC_Stop is
finished and the axis has stopped. Other motion instruction can not be executed until
Execute of
MC_Stop changes from TRUE to FALSE.

Programming Example 1
The example of MC_Stop execution is shown as below.
1. The variable table and program
Variable name Data type Initial value
Pwr MC_Power
Axis1 USINT 1
Pwr_En BOOL FALSE
Pwr_BM MC_Buffer_Mode 0
Pwr_Sta BOOL
Ex ec ute
Done
B usy
Ac tive
Co mma ndAbo rt ed
Error
Case 1
Cas e 2
Case 3
Cas e 4
Error I D