Delta Electronics DVP10MC11T [54/375] Motion control instructions

4. Motion Control Instructions

4-10 DVP-MC operating manual

Parameter

name

Explanation

Data

type

Available

device

Done

When absolute position execution is finished, "Done" turns

on; when “execute” is off, "Done" is reset.

BOOL M,Q

Abort

When this instruction execution is aborted, "Abort" turns

on; when “Execute” is off, "Abort" is reset.

BOOL M,Q

Error

If any error is detected, "Error" turns on; when “Execute” is

off, "Error" is reset.

BOOL M,Q

ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:

1. While MC_MoveAbsolute instruction is being executed, “Execute”: rising edge occurs, which does

not impact the execution of the instruction.

2. When the velocity, acceleration and deceleration of the instruction are read and written via human

man interface, their value types must be set as Double Word（Floating）

3. When direction values are different, motion directions of rotary axis are also different as follows.

Suppose the output unit of physical actuator is degree, the motion direction of rotary axis is

explained as below.

Direction: 1 (Positive direction)

Current position: 315

Target position: 90

Movement angle: 135

Direction: -1 (Negative direction)

Current position: 315°

Target position: 90°

Movement angle: 225°