Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
11-33
11
MC_Stop
FB/FC Explanation Applicable model
FB
MC_Stop is used to make the axis decrease its speed at a given
deceleration rate till it stops and then the axis goes into the Stopping state. 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 Execute
changes from
FALSE to TRUE
Execute
The instruction is
executed when
Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
Deceleration
Specify the target
deceleration rate.
(Unit: Unit/s
2 )
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Jerk
Specify the change rate of
the target acceleration or
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Note:
1. MC_Stop instruction is executed when Execute changes from FALSE to TRUE. There is no impact
on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the
course of the instruction execution.
2. While Execute changes from FALSE to TRUE once more in the course of execution of MC_Halt,
there is no impact on the instruction execution and the instruction will continue being executed in the
previous way. When
Execute changes from FALSE to TRUE once again after the instruction
execution is completed, the instruction can be re-executed.
3. Refer to section 10.2 for the relation between Deceleration and Jerk .

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 axis is being controlled. BOOL TRUE/FALSE
CommandAborte
d
TRUE when the instruction is aborted.
BOOL TRUE/FALSE
Error TRUE when there is an error. BOOL TRUE/FALSE
ErrorID
Contains error codes when an error occurs. Please refer
to section 12.2 for the corresponding error code.
WORD

Output Update Timing
MC_Stop
Ax is Done
MC_Stop_instan ce
Ex ecut e
Deceleration
Busy
Act iv e
Jerk
Error
E rrorID
CommandAborted