Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-168
11
1
Name Timing for changing to TRUE Timing for changing to FALSE
CommandAborted

When the instruction execution is
aborted by other motion instruction

When Execute changes from TRUE to
FALSE

CommandAborted is set to TRUE when the
instruction is aborted by other instruction
after
Execute changes from TRUE to
FALSE in the course of the instruction
execution. One period later,
CommandAborted changes to FALSE
Error

When an error occurs in the
instruction execution or the input
parameters for the instruction are
illegal

When Execute changes from TRUE to
FALSE.

Output Update Timing Chart
Case 1
：
Busy changes to TRUE as Execute changes from FALSE to TRUE. One period later, Done
changes to TRUE. Busy and Done remain TRUE after Execute changes from TRUE to
FALSE.
Case 2
：
If the MC_GearOut instruction is aborted by other instruction as Execute changes to TRUE,
CommandAborted changes to TRUE and meanwhile Busy and Done change to FALSE.
CommandAborted changes to FALSE as Execute changes from TRUE to FALSE.
Case 3
：
When an error occurs (e.g. the axis is disabled), Error changes to TRUE and ErrorID shows
corresponding error codes after Execute changes from FALSE to TRUE. Meanwhile, Busy and
Done change to FALSE. As Execute changes from TRUE to FALSE, Error changes to FALSE.
Case 4
：
Execute changes from TRUE to FALSE before a period is reached during execution of the
MC_GearOut instruction. Done changes to TRUE and Busy remains TRUE as a period is
reached.

Programming Example
Below is the example of the execution of the MC_GearOut instruction.
1. The variable table and program
Variable name Data type Initial value
Vel MC_MoveVelocity
Axis1 USINT 1
Axis2 USINT 2
Vel_Ex BOOL FALSE
Vel_Dir MC_DIRECTION 1
Vel_BM MC_Buffer_Mode 0
Vel_Invel BOOL
Ex ec ute
Done
B usy
Co mma ndAbo rt ed
Error
E rro r ID
Cas e1
Cas e2
Cas e4
Cas e3