Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-48
11
1
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period
later, Active changes to TRUE. When positioning is finished, Done changes to TRUE and
meanwhile, Busy and Active change to FALSE.
Case 2
：
When Execute changes from FALSE to TRUE and the instruction execution is aborted by
some other instruction, CommandAborted changes to TRUE and meanwhile, Busy and
Active change to FALSE. When Execute changes from TRUE to FALSE,
CommandAborted changes to FALSE.
Case 3
：
When Execute changes from FALSE to TRUE and an error occurs such as axis alarm or
Offline, Error changes to TRUE and ErrorID shows corresponding error codes.
Meanwhile, Busy and Active change to FALSE. Error changes to FALSE when Execute
changes from TRUE to FALSE.
Case 4
：
In the course of execution of the instruction, Done changes to TRUE when the instruction
execution is completed after Execute changes from TRUE to FALSE. Meanwhile, Busy
and Active change to FALSE and one period later, Done changes to FALSE.

Function
MC_MoveAdditive can control the actuator to move an additive distance at a given speed and
acceleration.
The execution of the former instruction related with positioning has not been finished yet and the
distance which the terminal actuator will move includes the uncompleted distance left by the former
instruction and the given distance of this instruction when MC_MoveAdditive is executed. When the
execution of MC_MoveAdditive is completed, the final position of the terminal actuator is the sum of
the given distances of the former instruction and current instruction MC_MoveAdditive.
If the former instruction is a velocity instruction, MC_MoveAdditive will abort the execution of the
velocity instruction and the terminal actuator will stop after moving a given distance of
MC_MoveAdditive at a given speed, acceleration and deceleration.
If MC_MoveAdditive is executed while MC_MoveSuperimposed is individually executed, the
instruction will abort MC_MoveSuperimposed immediately when the value of
BufferMode of
MC_MoveAdditive is 0. The distance which the terminal actuator will move includes the set distance
of this instruction and the uncompleted distance left by MC_MoveSuperimposed while
MC_MoveAdditive is executed.
An error will occur in the instruction right away if the value of
BufferMode is in the range of 1~5 and
the execution of MC_MoveSuperimposed instruction will continue.
If MC_MoveAdditive is executed when MC_MoveSuperimposed is used with a positioning instruction
together, the instruction will abort MC_MoveSuperimposed and the positioning instruction when the
value of
BufferMode of MC_MoveAdditive is 0. The distance which the terminal actuator will move is
the sum of the given distance of MC_MoveAdditive and the uncompleted distance left by the position
instruction which is used with MC_MoveSuperimposed together, excluding the uncompleted distance
Ex ec ute
Done
B usy
Ac tive
Co mma ndAbo rt ed
Error
Case1 Case2 Case3 Case4
Error I D