Delta DVP-15MC Series, Operation Manual

Page: 617 / 972

Chapter 11 Motion Control Instructions
11-147
11
DMC_ReadPositionLagStatus is used to detect if the absolute value of actual position difference of
the specified axis (which is the difference between the command position and feedback position)
exceeds the setting value. The allowed position difference value is set in the
DMC_WritePositionLagSetting instruction.
The OutOfRange output will change to TRUE if the actual position difference of the specified axis has
been exceeding the Lag value within the period specified by HoldTime since the Lag value was
exceeded for the first time. ( Lag and HoldTime are the inputs of DMC_WritePositionLagSetting.) The
OutOfRange output will change to FALSE when the absolute value of the actual position difference of
the specified axis is less than or equal to the Lag value.
When the setting value of HoldTime of DMC_WritePositionLagSetting is 0, the OutOfRange output will
change to TRUE once the instruction detects that the actual position difference of the specified axis
exceeds the Lag value and the OutOfRange output will change to FALSE once the instruction detects
that the absolute value of the actual position difference of the specified axis is less than or equal to the
Lag value.
The axis will not stop running when the instruction detects that the actual position difference of the
specified axis exceeds the Lag value. The running of the axis can be stopped by triggering the
execution of MC_Stop or MC_Halt instruction via the OutOfRange output.

Programming Example
1.
The variable table and program
Variable name Data type Initial value
DWPLS DMC_WritePositionLagSetting
DWPLS_Ex BOOL
DWPLS_Lag LREAL
DWPLS_H_Time LREAL
DWPLS_Done BOOL
DWPLS_Bsy BOOL
DWPLS_Err BOOL
DWPLS_ErrID WORD
DRPLS DMC_ReadPositionLagStatus
DRPLS_OutfRge BOOL
DRPLS_Bsy BOOL
DRPLS_Err BOOL
DRPLS_ErrID WORD
MStop MC_Stop
Mstop_DEC LREAL
Mstop_Jerk
LREAL
Mstop_Done
BOOL
Mstop_Bsy
BOOL
Mstop_Act
BOOL
Mstop_Abt
BOOL
Mstop_Err
BOOL
Mstop_ErrID
WORD