Delta Electronics DVP10MC11T [87/375] Mc_readactualposition
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Delta Electronics DVP10MC11T [87/375] Mc_readactualposition

Delta Electronics DVP10MC11T [87/375] Mc_readactualposition
4. Motion Control Instructions
DVP-MC operating manual 4-43
Parameter
name
Explanation
Data
type
Available
device
Synchroniz
eMotion
“SynchronizeMotion” is on as axis is in synchronous motion
status; “SynchronizeMotion” is reset as “Enable” turns on ->
off.
BOOL M,Q
Homing
“Homing” bit turns on as axis is in homing status; “Homing” is
reset as “Enable” turns on -> off.
BOOL M,Q
Notes:
1. After the execution of this instruction is finished, the servo drive axis state will be reflected on the
corresponding bit device.
2. This instruction triggered by high level will read the axis state constantly when “Enable” is on.
4.4.11. MC_ReadActualPosition
API
MC_ReadActualPosition
Read actual position
Controller
11
10MC11T
Explanation of the Instruction:
MC_ReadActualPosition is applied to read the actual position of the terminal actuator. This instruction
triggered by high level will read the actual position of the terminal actuator constantly when “Enable” is on.
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
Enable This instruction is executed as “Enable” turns on. BOOL
M,I,Q,
Constant
Done
When actual position reading is completed, ""Done" turns on;
when “Enable” turns on -> off, "Done" is reset.
BOOL M,Q
Error
I If any error is detected, "Error" turns on; when "Enable"
turns on -> off, "Error" is reset.
BOOL M,Q
ErrorID Error code. Please refer to section 5.3. UINT D
Position
The actual position of the terminal actuator.
(Unit: unit)
REAL D

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