Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
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11
positions to end positions for axes.
3. The input BufferMode of DMC_MoveDirectRelative only supports mcBuffered mode. If other mode is
selected, an error will occur when the instruction is executed. For details on BufferMode, refer to
section 10.3.
4. The input TransitionMode of DMC_ MoveDirectRelative only supports mcTMNone mode. If other
mode is selected, an error will occur when the instruction is executed.
5. The value of the input TransitionParameter of DMC_ MoveDirectRelative instruction is invalid.

Output Parameters
Parameter name Function Data type Valid range
Done
TRUE when the instruction execution is
completed.
BOOL TRUE / FALSE
Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE
Active TRUE when the instruction is controlling axes. BOOL TRUE / FALSE
CommandAborted TRUE when the instruction execution is aborted. BOOL TRUE / FALSE
Error
TRUE when an error occurs in 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
Done

When the end positions are
reached.

When Execute changes from TRUE to FALSE
after the instruction execution is completed

Done changes to TRUE when the instruction
execution is completed after Execute changes
from TRUE to FALSE during the instruction
execution. One cycle later,
Done changes to
FALSE.
Busy

When Execute changes to
TRUE

When Done changes to TRUE

When Error changes to TRUE

When CommandAbort changes to TRUE
Active

When the instruction starts
controlling axes.

When Done changes to TRUE

When Error changes to TRUE

When CommandAbort changes to TRUE
CommandAbort

When the instruction execution
is aborted by other motion
instruction.

When Execute changes from TRUE to FALSE
Error

When an error occurs in the
instruction execution or the
input parameters for the
instruction are illegal.

When Execute changes from TRUE to FALSE