Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
11-369
11
Parameter
name
Function Data type
Valid range
(Default)
Validation timing
transition mode
Note:
1. DMC_MoveCircularAbsolute instruction starts being executed when Execute changes from FALSE to
TRUE. Changing Execute from TRUE to FALSE during the instruction execution will have no impact
on the instruction execution.
2. When drawing an arc by adopting the center method, the values of AuxPoint[1] and AuxPoint[2] are
the coordinate differences between the center and start point of an circular arc. When drawing an arc
by adopting the radius method, the value of the input AuxPoint[1] is the radius. The value of AuxPoint[2]
is meaningless.
3. The value of input parameter EndPoint[1]~EndPoint[8] means the coordinates for the end point of an
arc on axes.
4. Refer to section 10.2 for the relationship among Velocity, Acceleration, Deceleration and Jerk .
5. For details on BufferMode, refer to section 10.3.

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 axes start being
controlled by the
insruction.

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

When Execute changes from TRUE to FALSE