Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-106
11
1
Case 1
：
When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE simultaneously
and ErrorStop, Disabled, Stopping, Homing, Standstill, DiscreteMotion, ContinuousMotion and
SyncMotion will change to TRUE or FALSE according to the axis status.
Case 2
：
When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE
simultaneously and the outputs of ErrorStop, Disabled, Stopping, Homing, Standstill,
DiscreteMotion, ContinuousMotion and SyncMotion will keep the same state as Enable is
TRUE.
Case 3
：
When the value of the input parameter Axis is out of the valid range and Enable changes from
FALSE to TRUE, Busy changes from FALSE to TRUE, one cycle later, Error changes from
FALSE to TRUE and ErrorID shows corresponding error codes and Busy changes from TRUE
to FALSE. When Enable changes from TRUE to FALSE, Error changes from TRUE to FALSE
and meanwhile ErrorID changes to 0.

Function
MC_ReadStatus is used to read the servo axis state in the controller. For the details on axis states,
please refer to section 10.4.

Programming Example
This example of the execution of MC_ReadStatus is shown as below.
1. The variable table and program
Variable name Data type Initial value
Pwr MC_Power
Axis1 USINT 1
Pwr_En BOOL FALSE
Pwr_BM MC_Buffer_Mode 0
Pwr_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Rel MC_MoveRelative
Rel_Ex BOOL FALSE
Rel_BM MC_Buffer_Mode 0
Rel_Done BOOL
Rel_Bsy BOOL
Rel_Act BOOL
Rel_Abt BOOL
Rel_Err BOOL
Rel_ErrID WORD
ReadSt MC_ReadStatus
ReadSt_En BOOL FALSE
ReadSt_Vald BOOL
ReadSt_Bsy BOOL
ReadSt_Err BOOL
ReadSt_ErrID WORD
ReadSt_ErrStp BOOL
ReadSt_Disbl BOOL
ReadSt_Stpin BOOL