Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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1

Output Update Timing Chart
Case 1
：
Busy changes to TRUE as Execute changes from FALSE to TRUE. And one period later,
Active changes to TRUE. When the slave axis and master axis are in the synchronous
motion, InSync changes from FALSE to TRUE. When the final point of the cam cycle is
reached, EndOfProfile changes from FALSE to TRUE and changes to FALSE one cycle
later. When the cam relationship between the slave axis and master axis is disconnected
(e.g. by executing the MC_CamOut instruction),
CommandAborted changes from FALSE to
TRUE and InSync, Busy and Active all change from TRUE to FALSE. After that,
CommandAborted changes from TRUE to FALSE as Execute changes from TRUE to
FALSE.
Case 2
：
As an error occurs in the execution of the instruction, Error changes from FALSE to TRUE,
ErrorID shows corresponding error codes and InSync , Busy and Active all change from
TRUE to FALSE. After that, Error changes from TRUE to FALSE and the value of ErrorID
changes to 0 as Execute changes from TRUE to FALSE.
Case 3
：
The instruction execution still continues after Execute changes from TRUE to FALSE during
execution of the instruction. The timing for changing the state of InSync , EndOfProfile, Busy
and Active is consistent with what state they are in as Execute is TRUE. After that, InSync ,
Busy and Active all change from TRUE to FALSE after the cam relationship between the
slave axis and master axis is disconnected. Meanwhile CommandAborted changes from
FALSE to TRUE and changes to FALSE one cycle later.
Case 4
：
If the cam motion is performed in the acyclic way ( Periodic =FALSE), EndOfProfile changes
from FALSE to TRUE when the end point of the cam cycle is reached. Meanwhile InSync ,
Busy and Active all change from TRUE to FALSE and EndOfProfile changes from TRUE to
FALSE one cycle later.

Function
The MC_CamIn instruction is used for making the slave axis and master axis move synchronously
according to the planned cam relationship. The MC_CamOut instruction is used for disconnecting the
cam relationship between the two axes.