The State Machine - Delta Electronics DVP15MC11T Operation Manual

DVP15MC11T Operation Manual
10.4

The State Machine

When DVP15MC11T utilizes the motion control instruction to control every axis, there is one internal-run state
for every axis and axis states are switched by following the state machine instructions below. The state
machine defines the motion instructions that can be executed in all states and the states after the motion
instructions are executed. Using the motion instructions, users could judge if a certain instruction could be
used in current state through the state machine.
The state machine of DVP15MC11T is illustrated as below and the arrow points to the axis status.
MC _Ge arIn(S lav e)
M C _C omb ineAx es (Sl av e)
M C _Mo veS uperi mpo se d
M C _Ha ltSuper im pos ed
M C _Mo veA bso lute
M C _Mo veR el ativ e
M C _Mo veA dditiv e
M C _Ha lt
Di screte M otion
M C _Mov eAb so lute
M C_ Mov eR ela ti ve
M C _Mo veA dditiv e
M C _M ove Super im pos ed
Note1：The axis in any state will enter the ErrorStop state as long as an error occurs in the axis.
10
Note2：The axis enters the Disabled state when no axis error occurs in any state and Enable of MC_Power
is FALSE.
10-32
M C _Cam In(Sl av e)
M C_ Hal t
MC _M ov eAbs olu te
M C _Mo ve Rel ativ e
M C _Mov eAb so lute
M C _Mo veA dditiv e
MC _M ov eVeloc ity
MC _S to p
Homing
M C_ GearIn( Slav e)
M C_ Cam In(Sl av e)
M C_ Com bin eAx es (Slav e)
M C_ Mov eSu peri mpos ed (Slav e)
Sync hronized
Motion
M C_ Cam Out
M C_S to p
M C _Gea rOut
M C_M ov eVeloc ity
M C _C amIn( Slav e)
M C _Gear In (Sla ve )
M C _C om bineA xes (S lav e)
MC _M ov eR elativ e
M C _H alt
M C _Stop
S topping
Note6
StandStill
N ote5
Note3
Disable
M C _Gear In(Sla ve )
M C_C am In(Sl ave )
M C _C ombi neAx es (Sl av e)
M C _Mo ve Vel oc ity
M C _Mo veS uperi mpo se d
Continuous
Motion
M C _Mov eVelo ci ty
N ote1
E rror Stop