Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-162
11
1
Parameter name Function Data type
Valid range
(Default)
Validation timing
deceleration.
(Unit: Unit/s
2
)
(The variable value
must be set)
changes from
FALSE to TRUE
Jerk
Specify the change rate of
target acceleration and
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
BufferMode
Specify the behavior when
executing two instructions.
0: Aborting
1: Buffered
MC_Buffer
_
Mode
0 : mcAborting
1 : mcBuffered
(0)
When Execute
changes from
FALSE to TRUE
Notes:
1. The execution of MC_GearIn is started when Execute changes from FALSE to TRUE. No matter
whether the execution of the instruction is completed or not, the instruction can be re-executed
when
Execute changes from FALSE to TRUE once again. During re-execution, only
RatioNumerator , RatioDenominator , MasterValueSource , Acceleration , Deceleration and Jerk
parameters will be effective again.
2. The slave axis specified by MC_GearIn instruction can execute other motion instruction while
MC_GearIn is being executed. While other motion instruction aborts the MC_GearIn instruction, the
gear relationship between the master axis and slave axis will disconnected. MC_Halt or MC_Stop
can abort the motion of the slave axis.
3. Refer to section 10.2 for the relation among Acceleration , Deceleration and Jerk .
4. Refer to section 10.3 for details on BufferMode .

Output Parameters
Parameter name Function Data type Valid range
InGear
TRUE when the slave axis reaches the synchronous
state.
BOOL TRUE / FALSE
Busy
TRUE when the instruction is being executed.
BOOL TRUE / FALSE
Active
TRUE when the axis is being controlled.
BOOL TRUE / FALSE
CommandAborted
TRUE when the instruction is aborted.
BOOL TRUE / FALSE
Error
TRUE when there is an error in the execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs. Please
refer to section 12.2.
WORD

Output Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
InGear

When the slave axis enters the
synchronous state.

When CommandAborted changes to TRUE

When Error changes to TRUE

InGear will change to FALSE immediately
when the input parameter is modified after
the synchronous state is reached and
Execute changes from FALSE to TRUE once
more.

InGear will change to FALSE immediately
when the input parameter is not modified
after the instruction execution is finished and
Execute changes from FALSE to TRUE once
more. And in the next period, InGear
changes to TRUE.
Busy

When Execute changes to TRUE

When CommandAborted changes to TRUE

When Error changes to TRUE