Delta DVP-15MC Series, Operation Manual

Page: 561 / 972

Chapter 11 Motion Control Instructions
11-91
11
 Output Update Timing Chart
E xec ute
Done
Bus y
E rror
Error I D
Case 1 Ca se 2
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the instruction
execution is completed, Done changes to TRUE and Busy changes to FALSE. When Execute
changes to FALSE, Done changes to FALSE.
Case 2
：
When an error occurs, Error changes to TRUE and ErrorID shows corresponding error code.
When Execute changes from TRUE to FALSE, Error changes to FALSE and the value of ErrorID
is cleared to 0.

Function
MC_Reset clears the error state and axis alarm information about the real axis or virtual axis inside the
motion controller. The axis state can be observed via MC_ReadStatus.The MC_Reset instruction can
be executed to clear the errors when the axis configured in the motion controller enters the ErrorStop
state. The instruction can be executed no matter whether the axis enters the ErrorStop state or not.
When the errors such as axis alarms, axis offline or state machine switch problems occur, the axis
enters the ErrorStop state and the motion instructions which are being executed stop. When the axis
alarms, the execution of the instruction can clear the axis alarm information. After the execution of
MC_Reset instruction is completed, the axis state will be determined by MC_Power instruction and the
axis will be in Disabled or Standstill state.
Refer to chapter 9 for explanation of axis states.
After the axis alarm occurs, excluding the alarm which occurs when the axis meets the limit swtich in
the course of homing, the alarm axis enters the ErrorStop state inside the motion controller. The axis
alarm can be eliminated if
Done is TRUE after the instruction is executed. If Error is TRUE, the axis
alarm cannot be eliminated and users should check if the cause of the error still exists.

Programming Example
When ReadSt_En is TRUE, the MC_ReadStatus instruction will detect the status of axis 1. When axis 1
enters the ErrorStop state due to axis offline or alarm,
ErrorStop of the MC_ReadStatus instruction will
change to TRUE and the MC_Reset instruction will be executed.
1. The variable table and program
Variable name Data type Initial value
ReadSt MC_ReadStatus
Axis1 USINT 1
ReadSt_En BOOL FALSE
ReadSt_Vald BOOL
ReadSt_Bsy BOOL
ReadSt_Err BOOL
ReadSt_ErrID WORD
ReadSt_Disbl BOOL
ReadSt_Stpin BOOL
ReadSt_Homi BOOL
ReadSt_Stans BOOL
ReadSt_Dism BOOL
ReadSt_Conm BOOL