Delta D25886 User Manual Page 80

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4. Motion Control Instructions
DVP-MC operating manual 4-39
4.4.10. MC_ReadStatus
API
Controller
10
MC_ReadStatus
Read axis status
10MC11T
Explanation of the Instruction:
MC_ReadStatus is applied to read the servo axis state in the controller. For the details on the axis state,
please refer to section 4.2.
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 when “Enable” turns on. BOOL
M,I,Q,
Constant
Done
When status reading is completed, "Done" turns on; when
“Enable” turns on -> off, "Done" is reset.
BOOL M,Q
Error
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 M,Q
ErrorStop
“ErrorStop” turns on as axis in abnormal stop status;
“ErrorStop” is reset as “Enable” turns on -> off.
BOOL M,Q
Stopping
“Stopping” turns on as axis is in normal stop status;”
Stopping” is reset as “Enable” turns on -> off.
BOOL M,Q
StandStil
“StandStill” turns on as axis is in standstill status; “StandStill”
is reset as “Enable” turns on -> off.
BOOL M,Q
DiscreteMo
tion
“DiscreteMotion” bit is on as axis is in discrete motion status;
“DiscreteMotion” is reset as “Enable” turns on -> off.
BOOL M,Q
Continous
Motion
“ContinousMotion” bit is on as axis is in continuous motion
status; “ContinousMotion” is reset as “Enable” turns on -> off.
BOOL M,Q
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