Delta DVP-15MC Series, Operation Manual

Page: 795 / 972

Chapter 11 Motion Control Instructions
11-325
11
Name Timing for changing to TRUE Timing for changing to FALSE
CommandAborted

When the instruction execution is
aborted.

When Execute changes from TRUE to
FALSE.
Error

When an error occurs in the
instruction execution or the input
parameters for the instruction are
illegal.

When Execute changes from TRUE to
FALSE.

Output Update Timing Chart
Execute
Done
Busy
Com m andA bort
Er ror
Er ror ID
Case 1 Case 2 Case 3
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the axes
group is paused successfully, Done changes to TRUE and Busy changes to FALSE. When
Execute changes from TRUE to FALSE, Done changes to FALSE.
Case 2
：
When the instruction execution is aborted, CommandAborted changes to TRUE and Busy
changes to FALSE. When Execute changes to FALSE, CommandAborted changes to
FALSE.
Case 3
：
When an error occurs in the course of the instruction execution, Error changes to TRUE and
ErrorID shows the corresponding error code. Meanwhile, Busy changes to FALSE. Error
changes to FALSE and the value in ErrorID is cleared to 0 when Execute changes to FALSE.

Function
DMC_GroupInterrupt is used to pause the motion of the current axes group for a period of time.
1. The input parameters Deceleration and Jerk of the DMC_GroupInterrupt instruction are reserved and
the input values for them are invalid. When the DMC_GroupInterrupt instruction is executed, the PLC
will decelerate at the deceleration rate of the axes group instruction controlling the motion of the axes
group until the axes group stops running.
2. The DMC_GroupInterrupt instruction can be executed only while the axes group instructions
DMC_MoveDirectAbsolute, DMC_MoveDirectRelative, DMC_MoveLinearAbsolute,
DMC_MoveLinearRelative, DMC_MoveCircularAbsolute and DMC_MoveCircularRelative are being
executed normally.
3. DMC_GroupContinue can be used to restore the axes group to the state before being paused after
DMC_GroupInterrupt is executed.
4. The execution results are consistent when several DMC_GroupInterrupt instructions are executed
simultaneously.
