Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-140
11
1
Name Timing for changing to TRUE Timing for changing to FALSE
Active

When the axis is being
controlled by the
instruction.

When CommandAborted changes to TRUE.

When Error changes to TRUE.
CommandAborted

TRUE when the instruction
is aborted by other motion
instruction.

When Ex_Move changes from TRUE to FALSE.

CommandAborted is set to TRUE when the
instruction is aborted after Ex_Move and Ex_Stop
change from TRUE to FALSE during the instruction
execution. One cycle later,
CommandAborted
changes to FALSE.
Error

When an error occurs in the
instruction execution or the
input parameters for the
instruction are illegal.

When Ex_Move and Ex_Stop change from TRUE to
FALSE.

Output Update Timing Chart
Ex _Mov e
Ex _Sto p
Inv eloc it y
S top_Don e
B usy
A ct iv e
Co mma ndAbo rt ed
Cas e1 Cas e2
Case3
Error
Error ID
Case 1
：
When Ex_Move changes from FALSE to TRUE, Busy changes to TRUE. When the axis starts
being controlled by the instruction, Active changes to TRUE. When Ex_Stop changes from
FALSE to TRUE, Invelocity changes to FALSE. When the position is reached, Stop_Done
changes to TRUE and meanwhile, Busy and Active change to FALSE. When Ex_Move and
Ex_Stop change from TRUE to FALSE, Stop_Done changes to FALSE.
Case 2
：
When Ex_Move changes to TRUE, the instruction is aborted by other instruction and
CommandAborted changes to TRUE. Meanwhile, Invelocity , Busy and Active change to
FALSE . When Ex_Move changes from TRUE to FALSE, CommandAborted changes to
FALSE.
Case 3
：
When an error occurs while Ex_Move is TRUE, Error changes to TRUE and ErrorID shows
corresponding error code. Meanwhile, Invelocity , Busy and Active change to FALSE. Error
changes to FALSE when Ex_Move changes from TRUE to FALSE.

Function
DMC_MoveVelocityStopByPos is used for making an axis stop at a specified phase. RoundPhase is
the modulo that the pitch ( UnitsPerRotation ) corresponds to. StopPhase specifies a phase in the
modulo. The value of StopPhase should be less than the value of RoundPhase .
As Ex_Move changes from FALSE to TRUE, the axis is controlled to run. As Ex_Stop changes from
FALSE to TRUE, the axis is controlled to stop at the phase specified by StopPhase . The final position
where the axis stops equals an integral multiple of the pitch ( UnitsPerRotation ) + StopPhase
value/ RoundPhase value* the pitch value ( UnitsPerRotation ).
The pitch ( UnitsPerRotation ) is 10000, RoundPhase is set to 360 and StopPhase is set to 90 as