Execution Of Function Block Instructions; The Interface Of A Motion Control Function Block - Delta AH Series Operation Manual

Whether the current instruction execution has been completed or not depends on the completion output parameter of the
instruction. As the completion output parameter is TRUE, it indicates that the instruction execution is completed and the
buffered instruction execution starts.
See the completion output parameters of instructions in the following table so as to judge the instruction execution state in
a buffer mode.
Instruction name
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveSuperImposed
MC_MoveVelocity
MC_Home
MC_Stop
MC_Halt
MC_TorqueControl
MC_Power
MC_HalfSuperimposed
MC_CamIn
MC_GearOut
MC_GearIn
MC_GearOut
MC_PhasingAbsolute
MC_PhasingRelative
MC_VelocityControl
7.7

Execution of Function Block Instructions

The execution of the motion control instrucitons is controlled by the input parameters, and the status and execution results
are indicated on the outputs. This section introduces the definition and function of the common interface of function block
instructions.
7.7.1

The Interface of a Motion Control Function Block

Common inputs and outputs in motion control function blocks are listed below. A function block has one or a part of the
inputs/outputs listed below. For example, a function block has either the Execute input or the Enable input, based on the
properties of the motion control function block.
Ch ap te r 7 M oti on Co n tro l Prog ram m ing
Is it a buffered Can it be followed by a
instruction? buffered instruction?
(Yes or No)
Yes
Yes
Yes
No
Yes
No
No
Yes
Yes
MC_TorqueControl/MC_Halt
No
No
Yes
No
Yes
No
Yes
MC_PhasingAbsolute/
MC_PhasingRelative
Yes MC_PhasingAbsolute/
MC_PhasingRelative
Yes
MC_VelocityControl/MC_Halt
Completion output
parameter of an
(Yes or No)
Yes
Yes
Yes
No
Yes
Yes
Yes
Yes
Only for
Yes
No
Yes
Yes
Yes
Yes
Only for
Only for
Only for
instruction
Done
Done
Done
——
InVelocity
Done
Done=True and
Execute=False
Done
InTorque
Status
——
EndOfProfile
Done
InGear
Done
Done
Done
InVelocity
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