Delta DVP-15MC Series, Руководство по эксплуатации

Страница: 579 / 972

Chapter 11 Motion Control Instructions
11-109
11
MC_ReadMotionState
FB/FC Explanation Applicable model
FB
MC_ReadMotionState is used to read current motion state of the servo
axis. DVP15MC11T
DVP15MC11T-06

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation
timing
Axis
Specify the number of
the axis which is to be
controlled
USINT
Refer to Functions of
Section 2.2.
(The variable value
must be set)
When Enable
changes to
TRUE
Enable
The instruction is
executed when
Enable
changes to TRUE.
BOOL
TRUE or FALSE
(FALSE)
-
Source Reserved - - -
Notes:
1. When Enable changes from FALSE to TRUE, the execution of MC_ReadStatus starts.
2. When MC_ReadStatus is being executed and Enable changes from TRUE to FALSE, the instruction
execution stops and the outputs of ConstantVelocity , Accelerating , Decelerating , DirectionPositive
and DirectionNegative keep the status as Enable is TRUE.

Output Parameters
Parameter name Function Data type Valid range
Valid TRUE when the output of the instruction is valid. BOOL TRUE / FALSE
Busy TRUE while the instruction is being executed. BOOL TRUE / FALSE
Error
TRUE while there is an error in the execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains error codes when an error occurs. Please
refer to section 12.2 for the corresponding error code.
WORD
ConstantVelocity TRUE when the axis moves at a constant speed BOOL TRUE / FALSE
Accelerating
TRUE when the absolute value of the axis velocity is
increased.
BOOL TRUE / FALSE
Decelerating
TRUE when the absolute value of the axis velocity is
decreased.
BOOL TRUE / FALSE
DirectionPositive TRUE when the current position value is increased. BOOL TRUE / FALSE
DirectionNegative TRUE when the current position value is decreased. BOOL TRUE / FALSE
MC_ReadMotionSt ate
Ax is Valid
MC_ReadMotionS tate_ins tanc e
En able Busy
Error
E rrorI D
Const antVelocity
Ac celerat ing
Decelerat ing
Direc tionPos itive
Direct ionNega tive
Source