Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-395
11
Name Timing for changing to TRUE Timing for changing to FALSE
the instruction are illegal.

Output Update Timing Chart
En able
Valid
Bus y
Error
E rro r ID
Cas e1
Cas e
2
Case 1
：
When Enable changes from FALSE to TRUE, Busy changes to TRUE. One cycle later, Valid
changes to TRUE. When Enable changes from TRUE to FALSE, Valid and Busy change to
FALSE simultaneously.
Case 2
：
When there is an input error in the instruction and Enable changes from FALSE to TRUE, Busy
changes to TRUE, one cycle later, Error changes to TRUE and ErrorID shows error codes and
meanwhile Busy changes to FALSE. When Enable changes from TRUE to FALSE, Error
changes to FALSE and the value in ErrorID is cleared to 0.

Function
DMC_GroupReadActualPosition instruction is used to read current positions of axes in the axes group.
The value of the output
Position is an array. Every member of the array corresponds to one axis
position. E.g. Position[1] corresponds to the position on X-axis, Position[2] corresponds to the position
on Y-axis and so on. The firmware of V1.01 and above supports the function.