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
Done

When the writing of the
parameter content is completed

When Execute changes from
TRUE to FALSE after the
instruction execution is completed
Busy

When Execute changes to TRUE

When Error changes to TRUE

When Done changes from FALSE
to TRUE
Active

When the slave starts being
controlled by the instruction

When Error changes to TRUE

When Done changes from FALSE
to TRUE
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

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. When Done changes to TRUE, Busy and Active change to FALSE.
When Execute changes from TRUE to FALSE, Done changes from TRUE to FALSE.
Case 2
：
Before DMC_WriteParameter_CANopen is executed, the input parameter value such as axis
No: 0 is illegal. After
Execute changes from FALSE to TRUE, Error changes from FALSE to
TRUE 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.
 Function
DMC_WriteParameter_CANopen is used to set the parameter value of a slave. Users can specify the index
and subindex of the parameter which is to be set.

Programming Example
Below is an example of one DMC_WriteParameter_CANopen instruction execution.

The variable table and program
Variable name Data type Initial 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
E xec ute
Done
Bus y
Ac tive
Error
E rro rID
Ca se1
Cas e2