Delta Electronics DVP15MC11T Operation Manual page 431

DVP15MC11T Operation Manual
Case 2： When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE and
ConstantVelocity, Accelerating, Decelerating, DirectionPositive and DirectionNegative remain
the state for when Enable is TRUE.
Case 3： When the value of Axis is out of the valid range and Enable changes from FALSE to TRUE, Busy
11
changes from FALSE to TRUE, one period later, Error changes from FALSE to TRUE and
ErrorID shows corresponding error codes. Meanwhile, Busy changes from TRUE to FALSE.
1
Error changes from TRUE to FALSE and the value of ErrorID becomes 0 as Enable changes
from TRUE to FALSE.

Function
MC_ReadMotionState is used to read current motion state of the servo axis. The motion state of the
servo axis includes the constant motion, acceleration or deceleration, positive rotation and negative
rotation.

Programming Example
This example of the execution of MC_ ReadMotionState is shown as below.
1. The variable table and program
Pwr
Axis1
Pwr_En
Pwr_Sta
Pwr_Bsy
Pwr_Act
Pwr_Err
Pwr_ErrID
Rel1
Rel1_Ex
Rel1_Done
Rel1_Bsy
Rel1_Act
Rel1_Abt
Rel1_Err
Rel1_ErrID
Rel2
Rel2_Ex
Rel2_Done
Rel2_Bsy
Rel2_Act
Rel2_Abt
Rel2_Err
Rel2_ErrID
ReadMoSt
ReadMoSt_En
ReadMoSt_Vald
ReadMoSt_Bsy
ReadMoSt_Err
11-108
Variable name Data type
MC_Power
USINT
BOOL
BOOL
BOOL
BOOL
BOOL
WORD
MC_MoveRelative
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
WORD
MC_MoveRelative
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
WORD
MC_ReadMotionState
BOOL
BOOL
BOOL
BOOL
Initial value
1
FALSE
FALSE
FALSE
FALSE