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
Ex ec ute
Done
B usy
Ac tive
Co mma ndAbo rt ed
Error
Case 1 Case 2 Case 3 Case 4
Error I D
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE and one cycle later,
Active changes to TRUE. When positionging is done, Done changes to TRUE. Meanwhile
Busy and Active change to FALSE.
Case 2
：
If the instruction is aborted by MC_Stop or MC_Halt after Execute changes from FALSE to
TRUE, CommandAborted changes to TRUE and meanwhile Busy and Active change to
FALSE. When Execute changes from TRUE to FALSE, CommandAborted changes to FALSE.
Case 3
：
When an error occurs after Execute changes from FALSE to TRUE, Error changes to TRUE
and ErrorID shows corresponding error code. Meanwhile, Busy and Active change to FALSE.
Error changes to FALSE when Execute changes from TRUE to FALSE.
Case 4
：
When the instruction execution is finished after Execute changes from TRUE to FALSE during
the instruction execution, Done changes to TRUE and meanwhile, Busy and Active change to
FALSE. One cycle later, Done changes to FALSE.

Function
DMC_CartesianCoordinate instruction is used for controlling the Cartesian-coordinate robotic arm to
make the interpolation in accordance with G code. It is applied to the engraving machine and sewing
machine which regard the Cartesian coordinate robot as mathematical model. The firmware of V1.01
and above supports the function.
1. Pause is used for temporarily stopping the execution of G code. After Pause is set to TRUE, the
terminal actuator wil reduce its velocity to 0 according to the specified deceleration rate. When
pausing is finished,
Pause is set to FALSE. The terminal actuator will speed up at the specified
acceleration rate till the target velocity is reached and the G code interpolation will continue.
2. Stop is used to terminate the execution of G code. Once Stop is set to TRUE, the terminal actuator
will stop immediately and meanwhile Done of the instruction changes to TRUE and the G code
execution is terminated.
3. VelOverride is used for changing the velocity of the terminal actuator ranging from 0~500 with the
unit: %. “100” means “100%”. The velocity of the terminal actuator after modification= The velocity
of the terminal actuator before modification x override value.
The axis will accerate or decelerate till the target velocity after modification is reached according to
the acceration rate and deceleration rate of the G code which is being executed currently.
4. NCFile is used to specify the NC file number for execution. The number is the ID of the CNC file
built in the programming software.
5. AxesGroup is to specify the number of the axes group which is to perform G code.
6. Before using the DMC_CartesianCoordinate instruction, the axes in the axes group must be in
standstill. Otherwise, there will be an error in the instruction execution.