Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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11
1
Error changes to FALSE and the value in ErrorID is cleared to 0 when Execute changes to
FALSE.

Function
DMC_GroupStop is used to stop the motion of the current axes group.
1. The input parameters Deceleration and Jerk of the DMC_GroupStop instruction are reserved and the
input values for them are invalid. When the DMC_GroupStop instruction is executed, all axes in the
axes group will stop running immediately.
2. The DMC_GroupStop instruction can be executed only while the axes group instructions such as
DMC_MoveDirectAbsolute, DMC_MoveDirectRelative, DMC_MoveLinearAbsolute,
DMC_MoveLinearRelative, DMC_MoveCircularAbsolute and DMC_MoveCircularRelative are being
executed. After the instruction execution is completed, all axes in the axes group will stop running and
the axis status will still be the Discrete Motion state. Before other motion instructions which can be
executed only when axes are in StandStill state are executed,
Enable of the DMC_ GroupEnable
instruction must be set to FALSE.
3. When Execute of the DMC_GroupStop instruction changes from FALSE to TRUE, the instruction is
executed. After the instruction execution is completed, the axes group instructions
DMC_MoveDirectAbsolute, DMC_MoveDirectRelative, DMC_MoveLinearAbsolute,
DMC_MoveLinearRelative, DMC_MoveCircularAbsolute and DMC_MoveCircularRelative all can not
be executed. These instructions can be executed only after
Execute of the DMC_GroupStop
instruction changes into FALSE.

Programming Example
The example of how to use DMC_GroupStop instruction is described as follows.
1. The variable table and program
Variable name Data type Initial value
M1 BOOL TRUE
DMC_AddAxisToGroup0 DMC_AddAxisToGroup
ADDAXIS_Ex BOOL
ADDAXIS_Done BOOL
ADDAXIS_Bsy BOOL
ADDAXIS_Err BOOL
ADDAXIS_Eid WORD
DMC_AddAxisToGroup1 DMC_AddAxisToGroup
ADDAXIS_Done1 BOOL
ADDAXIS_Bsy1 BOOL
ADDAXIS_Err1 BOOL
ADDAXIS_Eid1 WORD
DMC_GroupEnable0 DMC_GroupEnable
GE_EN BOOL
GE_VEL ARRAY [1..8] OF LREAL [10000,10000]
GE_ACC ARRAY [1..8] OF LREAL [10000,10000]
GE_DEC ARRAY [1..8] OF LREAL [10000,10000]
GE_JERK ARRAY [1..8] OF LREAL [10000,10000]
GE_Status BOOL
GE_Bsy BOOL
GE_Abt BOOL
GE_Err BOOL
GE_Eid WORD
DMC_MoveLinearAbsolute0 DMC_MoveLinearAbsolute
LA_Ex BOOL
LA_Pos ARRAY [1..8] OF LREAL [200000,200000]
LA_Done BOOL
LA_Bsy BOOL
LA_Act BOOL