Delta Electronics DVP10MC11T [77/375] Mc_stop
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Delta Electronics DVP10MC11T [77/375] Mc_stop

Delta Electronics DVP10MC11T [77/375] Mc_stop
4. Motion Control Instructions
DVP-MC operating manual 4-33
Motion controller controls servo motor rotation as M2 turns Off→On; M3 turns Off→On when servo
motor has not reached target speed; M21 of "Abort" of the first instruction turns Off→On and servo
motor accelerates to the speed of the second MC_MoveVelocity instruction to run; M30 of "Invelocity"
turns Off→On after servo motor is up to the target speed.
M30 of "Invelocity" turns On→Off when M3 turns On→Off.
4.4.6. MC_Stop
API
MC_Stop
Stop instruction
Controller
06
10MC11T
Explanation of the Instruction:
MC_Stop controls the terminal actuator to decrease its speed at the given acceleration till it stops moving.
During execution of this instruction, an error will occur in them if other motion instructions are executed. The
instruction MC_Stop which is being executed will be aborted if another MC_Stop instruction with the same
axis number is executed.
Explanation of input and output parameter of the instruction:
Parameter
name
Explanation
Data
type
Available
device
Axis The node address of servo drive UINT Constant, D
Execute
This instruction is executed when “Execute” turns Off –>
On.
BOOL
M,I,Q,
Constant
Deceleration
Deceleration of terminal actuator and this parameter is
always positive. (Unit: unit/second
2
)
REAL
Constant, D
Done
“Done” turns on as speed is decelerated to 0; “Done” bit is
reset as “Execute” turns off.
BOOL M,Q
Error
If any error is detected, "Error" turns on; when "Execute"
turns off, "Error" is reset.
BOOL M,Q
ErrorID Error code. Please refer to table 5.3. UINT D
Notes:
1. When
MC_Stop instruction is being executed, “Execute”: rising edge occurs, which does not impact the
execution of the instruction.
2. MC_Stop instruction can be executed for the slave axis specified by MC_ GearIn, MC_ CamIn and
APF_RotaryCut_In. The multi-axis relations are disabled when MC_Stop is exectuted. MC_Stop
instruction can not be executed for the slave axis specified by APF_FlyingShear, DMC_NC and
DNC_Group.
3. When the velocity, acceleration and deceleration of the instruction are read via human machine
interface, their value types must be set as Double Words (
Floating).

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