Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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1
Case 2
：
When Execute changes to TRUE and the instruction is aborted by other instruction,
CommandAborted changes to TRUE and meanwhile, Busy and Active change to FALSE.
CommandAborted changes to FALSE when Execute changes from TRUE to FALSE.
Case 3
：
When an error occurs such as axis disabled as Execute is TRUE, Error changes to TRUE and
ErrorID shows corresponding error code. Meanwhile, Busy and Active change to FALSE.
Error changes to FALSE when Execute changes from TRUE to FALSE.
Case 4
：
Done changes to TRUE when the instruction execution is completed after Execute changes
from TRUE to FALSE in the course of execution of the instruction. Meanwhile, Busy and
Active change to FALSE and one cycle later, Done changes to FALSE.

Function
The MC_HaltSuperimposed instruction is used to halt the execution of the MC_MoveSuperimposed
instruction.

The MC_HaltSuperimposed instruction cannot be executed alone and it can only be used with the
MC_MoveSuperimposed instruction together.

If the MC_HaltSuperimposed instruction is executed when the MC_MoveSuperimposed instruction
and other motion instruction jointly control the axis, the MC_HaltSuperimposed instruction will abort
the MC_MoveSuperimposed instruction but other motion instruction execution will not be affected.

The MC_HaltSuperimposed instruction can halt the execution of the MC_HaltSuperimposed
instruction.

Programming Example
The programming example is as follows when one MC_HaltSuperimposed instruction is used.
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
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Rel MC_MoveRelative
Rel_Ex BOOL FALSE
Rel_Done BOOL
Rel_Bsy BOOL
Rel_Act BOOL
Rel_Abt BOOL
Rel_Err BOOL
Rel_ErrID WORD
Sup MC_MoveSuperimposed
Sup_Ex BOOL FALSE
Sup_Done BOOL
Sup_Bsy BOOL
Sup_Act BOOL
Sup_Abt BOOL
Sup_Err BOOL