Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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11
1

Output Update Timing Chart
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE. One cycle later, Active
changes to TRUE. When the slave axis has synchronized with the two master axes, InSync
changes to TRUE and Busy and Active remain TRUE.
Case 2
：
When Execute is TRUE, Busy is TRUE and Active is TRUE. When the slave have
synchronized with the two master axes, InSync is TRUE. At the moment, the instruction is
aborted by another instruction, CommandAborted changes to TRUE and meanwhile Invelocity ,
Busy and Active change to FALSE. When Execute changes from TRUE to FALSE,
CommandAborted changes to FALSE.
Case 3
：
When Execute changes from FALSE to TRUE, Error changes to TRUE and ErrorID shows
corresponding error codes when an error occurs such as axis alarms or offline. Meanwhile,
InSync , Busy and Active change to FALSE. When Execute changes from TRUE to FALSE,
Error changes to FALSE.
Case 4
：
The instruction is still executed and the states of Busy and Active do not change after Execute
changes from TRUE to FALSE during execution of the instruction. When the slave axis has
been synchronized with the two master axes,
InSync changes to TRUE and Busy and Active
remain TRUE.

Function
MC_CombineAxes outputs the sum or difference of the position variations of two master axes as the
slave position variation.

Combine modes: Addition or Subtraction
The addition or subtraction of the position variations of master axis 1 and master axis 2 are
conducted and the calculation result is output as slave axis position variation.

CombineMode is set to 0
𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏 𝐯𝐯𝐯𝐯𝐯𝐯𝐏𝐏𝐯𝐯𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏 𝐏𝐏𝐨𝐨 𝐒𝐒𝐒𝐒𝐯𝐯𝐯𝐯𝐒𝐒 𝐯𝐯𝐚𝐚𝐏𝐏𝐏𝐏 =
Position variation of Master axis1 ×
GearRatioNumeratorM1
GearRatioDenominatorM1
+
Position variation of Master axis2 ×
GearRatioNumeratorM2
GearRatioDenominatorM2
E xec ute
InS ync
Bus y
Ac tiv e
E rror
E rro rI D
Case 1
Abort
Cas e 2
Cas e 3
Cas e 4