Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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11
1
Parameter
name
Function Data type Valid range
SlavePos
The position of the slave axis of the selected electronic
cam point.
LREAL
0, positive
number
SlaveVel
The velocity of the slave axis of the selected electronic
cam point.
LREAL
0, positive
number
SlaveAcc
The acceleration of the slave axis of the selected
electronic cam point.
LREAL
0, positive
number

Output Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Done

When the instruction
execution is completed.

When Execute changes to FALSE.
Busy

When Execute is TRUE.

When Done changes to TRUE.

When Error changes to TRUE.
Error

When any of the input
parameters is illegal.

When Execute changes from TRUE to FALSE.

Output Update Timing Chart
E xec ute
Done
Bus y
E rror
Error I D
Case 1 Ca se 2
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the instruction
execution is completed, Done changes to TRUE and Busy changes to FALSE. When Execute
changes to FALSE, Done changes to FALSE.
Case 2
：
When an error occurs, Error changes to TRUE and ErrorID shows corresponding error code.
When Execute changes from TRUE to FALSE, Error changes to FALSE and the value of
ErrorID is cleared to 0.

Functions
DMC_CamReadPoint reads the information of a cam point in an electronic cam table.
If
CamChangedPoint is FALSE, the instruction reads the parameters of a cam point which is before the
cam point information is modified by using DMC_CamSet.
If
CamChangedPoint is TRUE, the instruction reads the parameters of a cam point which is after the
cam point information is modified by using DMC_CamSet.

Programming Example
1. The variable table and program
Variable name Data type Initial value
CamWr DMC_CamWritePoint
CamWr_Ex BOOL FALSE
CamWr_CT USINT 1
CamWr_CP UINT 2
CamWr_MP LREAL 180.0
CamWr_SP LREAL 540.0
CamWr_SV LREAL 0.0
CamWr_SA LREAL 0.0