Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
10-32
10
10.4 The State Machine
When DVP-15MC series motion controller utilizes the motion control instruction to control every axis, there is
one internal-run state for every axis and axis states are switched by following the state machine instructions
below. The state machine defines the motion instructions that can be executed in all states and the states after
the motion instructions are executed. Using the motion instructions, users could judge if a certain instruction
could be used in current state through the state machine.
The state machine of DVP-15MC series motion controller is illustrated as below and the arrow points to the
axis status.
D isable
StandStill
H oming
Don
e
Not e6
N ot e1
E rror Stop
S topping
Di screte M otion
C ontinuous
Motion
Sync hronized
Motion
Do ne
M
C_H
o m
e
MC _S to p
M C _St op
M
C _
S to
p
M C _Mov eVelo ci t y
M C _Mov eAb so lut e
M C_ Mov eR ela ti ve
M C _Mo veA ddit iv e
M C _M ove Super im pos ed
MC _M ov eVeloc it y
M C_M ov eVeloc it y
M C _Mo veS uperi mpo se d
M C _Mo ve Vel oc it y
M C _Mov eAb so lut e
MC _M ov eR elat iv e
M C _Mo veA ddit iv e
M C_S to p
M C _G ea rO ut
M C_ Cam O ut
N
ote
4
Not e3
N ot e5
N
ot
e2
MC _G e arI n(S lav e)
M C _Cam I n(Sl av e)
M C _C omb ineAx es (Sl av e)
M C _Mo veA bso lut e
M C _Mo veR el at iv e
M C _Mo veA ddit iv e
M C _Mo veS uperi mpo se d
M C _Ha lt
M C _Ha lt Super im pos ed
M C_ G earI n( Slav e)
M C_ Cam I n(Sl av e)
M C_ Mov eSu peri mpos ed (Slav e)
M C_ Com bin eAx es (Slav e)
M C _G ear I n(Sla ve )
M C_C am I n(Sl ave )
M C _C ombi neAx es (Sl av e)
M C _G ear In (Sla ve )
M C _C amI n( Slav e)
M C _C om bineA xes (S lav e)
MC _M ov eAbs olu te
M C _Mo ve Rel at iv e
M C_ Hal t
M C _H alt
Note1
：
The axis in any state will enter the ErrorStop state as long as an error occurs in the axis.
Note2
：
The axis enters the Disabled state when no axis error occurs in any state and Enable of
MC_Power is FALSE.