Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
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Parameter Name Timing for changing to TRUE Timing for changing 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 Timing Chart
Case 1
：
Busy and Active change to TRUE when Execute changes from FALSE to TRUE and one period
later, Done changes to TRUE and Datatype and Data show corresponding data. When Done
changes to TRUE, Busy and Active change to FALSE. When Execute changes from TRUE to
FALSE, Done changes from TRUE to FALSE and Datatype and Data retain original values.
Case 2
：
Before DMC_ReadParameter_CANopen is executed, the input parameter value such as axis
No: 0 is illegal. When
Execute changes from FALSE to TRUE, Error changes from FALSE to
TRUE, the values of Datatype and Data are cleared to 0 and ErrorID shows corresponding error
codes. As Execute changes from TRUE to FALSE, Error changes from TRUE to FALSE and the
content of ErrorID is cleared to 0.
 Functions
DMC_ReadParameter_CANopen is used to read the parameter value of a slave. Users can specify the index
and subindex of the parameter to be read.

Programming Example
Below is an example of DMC_ReadParameter_CANopen instruction execution.

The variable table and program
Variable name Data type Current value
ReadPm_C1 DMC_ReadParameter_CANopen
Axis1 USINT 1
ReadPm_C1_Ex BOOL TRUE
ReadPm_C1_Done BOOL TRUE
ReadPm_C1_Bsy BOOL FALSE
ReadPm_C1_Act BOOL
FALSE
ReadPm_C1_Err BOOL FALSE
ReadPm_C1_ErrID WORD FALSE
ReadPm_C1_DaTy USINT 2
ReadPm_C1_Dat UDINT 5000
WritePm_C DMC_WriteParameter_CANopen
WritePm_C_Done BOOL TRUE
WritePm_C_Bsy BOOL FALSE
E xec ut e
Don e
Bus y
Ac tiv e
Error
E rrorID
Cas e1
Dat aty pe
Cas e2
Dat a