Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-94
11
1
Parameter name Function Data type Valid range
Please refer to section 12.2 for the corresponding
error ID.

Output Update Timing
Parameter Name Timing for changing to TRUE Timing for changing to FALSE
InTorque

When the target torque is
reached.

When Error changes to TRUE.

When Enable changes from TRUE to
FALSE
Busy

When Enable changes to TRUE

When InTorque changes to TRUE.

When Error changes to TRUE.
Active

When the instruction starts to
control the axis

When InTorque changes to TRUE.

When Error changes to TRUE.
CommandAborted

When this instruction execution is
aborted by other motion control
instruction.

When Enable changes from TRUE to
FALSE

CommandAborted is set to TRUE when
the instruction is aborted after Enable
changes from TRUE to FALSE during the
instruction execution. One cycle later,
CommandAborted changes to FALSE.
Error

When an error occurs in the
instruction execution or the input
parameters for the instruction are
illegal.

When Enable changes from TRUE to
FALSE

Output Update Timing Chart
Case 1
：
When Enable changes from FALSE to TRUE, Busy changes to TRUE in the same cycle.
Active changes to TRUE in the next cycle and InTorque changes to TRUE in the 3
rd
cycle.
When Enable changes from TRUE to FALSE, Busy , Active and InTorque change to FALSE in
the same cycle.
Case 2
：
When the DMC_SetTorque instruction is aborted by MC_Stop after Enable changes from
FALSE to TRUE, CommandAborted changes to TRUE and meanwhile, InTorque
,
Busy and
Active change to FALSE. When Enable changes from TRUE to FALSE, CommandAborted
changes to FALSE.
Case 3
：
The input parameter value is illegal such as the axis number: 0 before the DMC_SetTorque
instruction is executed.
Busy changes to TRUE when Enable changes from FALSE to TRUE.
One cycle later, Error changes to TRUE, Busy changes to FALSE and ErrorID shows
E nable
I nTorque
Bus y
A ct iv e
Error
Ca se 1
Error ID
Cas e 3
Co mma ndAbo rt ed
Case 2