Delta Electronics DVP15MC11T, Руководство по эксплуатации

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DVP15MC11T Operation Manual
11
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11.3.18 MC_ReadMotionState
FB/FC Explanation Applicable model
FB
MC_ReadMotionState is used to read current motion state of the servo
axis.
DVP15MC11T

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation
timing
Axis
Specify the number of
the axis which is to be
controlled
USINT
1~32
(The variable value must
be set)
When Enable
changes to
TRUE
Enable
The instruction is
executed when
Enable
changes to TRUE.
BOOL
TRUE or FALSE
(FALSE)
-
Source Reserved - - -
Notes:
1. When Enable changes from FALSE to TRUE, the execution of MC_ReadStatus starts.
2. When MC_ReadStatus is being executed and Enable changes from TRUE to FALSE, the instruction
execution stops and the outputs of ConstantVelocity , Accelerating , Decelerating , DirectionPositive
and DirectionNegative keep the status as Enable is TRUE.

Output Parameters
Parameter name Function Data type Valid range
Valid TRUE when the output of the instruction is valid. BOOL TRUE / FALSE
Busy TRUE while the instruction is being executed. BOOL TRUE / FALSE
Error
TRUE while there is an error in the execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains error codes when an error occurs. Please
refer to section 12.2 for the corresponding error code.
WORD
ConstantVelocity TRUE when the axis moves at a constant speed BOOL TRUE / FALSE
Accelerating
TRUE when the absolute value of the axis velocity is
increased.
BOOL TRUE / FALSE
Decelerating
TRUE when the absolute value of the axis velocity is
decreased.
BOOL TRUE / FALSE
DirectionPositive TRUE when the current position value is increased. BOOL TRUE / FALSE
DirectionNegative TRUE when the current position value is decreased. BOOL TRUE / FALSE
MC_ReadMotionSt ate
Ax is Valid
MC_ReadMotionS tate_ins tanc e
En able Busy
Error
E rrorI D
Const antVelocity
Ac celerat ing
Decelerat ing
Direc tionPos itive
Direct ionNega tive
Source
11-106