Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-111
11
Case 2
：
When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE and
ConstantVelocity, Accelerating, Decelerating, DirectionPositive and DirectionNegative remain the
state for when Enable is TRUE.
Case 3
：
When the value of Axis is out of the valid range and Enable changes from FALSE to TRUE, Busy
changes from FALSE to TRUE, one period later, Error changes from FALSE to TRUE and ErrorID
shows corresponding error codes. Meanwhile, Busy changes from TRUE to FALSE. Error
changes from TRUE to FALSE and the value of ErrorID becomes 0 as Enable changes from
TRUE to FALSE.

Function
MC_ReadMotionState is used to read current motion state of the servo axis. The motion state of the
servo axis includes the constant motion, acceleration or deceleration, positive rotation and negative
rotation.

Programming Example
This example of the execution of MC_ ReadMotionState 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_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Rel1 MC_MoveRelative
Rel1_Ex BOOL FALSE
Rel1_Done BOOL
Rel1_Bsy BOOL
Rel1_Act BOOL
Rel1_Abt BOOL
Rel1_Err BOOL
Rel1_ErrID WORD
Rel2 MC_MoveRelative
Rel2_Ex BOOL FALSE
Rel2_Done BOOL
Rel2_Bsy BOOL
Rel2_Act BOOL
Rel2_Abt BOOL
Rel2_Err BOOL
Rel2_ErrID WORD
ReadMoSt MC_ReadMotionState
ReadMoSt_En BOOL FALSE
ReadMoSt_Vald BOOL
ReadMoSt_Bsy BOOL
ReadMoSt_Err BOOL