Delta AX Series Instruction Manual page 231

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
This instruction can decelerate and stop the motion of axis groups other than DMC_GroupStop.
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During deceleration, the status of the axis groups remains GroupMoving.
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When the speed reaches 0, the output pin bDone will immediately changes to True, and the status of the axis
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groups will switch to StandBy.
If Group state machine is GroupMoving during execution, after the instruction execution, the following
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Continue data will be recorded for subsequent DMC_GroupContinue to resume the motion.
The instructions that have not finished execution (including the instructions that have not finished execution
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in the instruction buffer area).
Position after motion stops (AxisGroup.ContinuePos).
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After recording the dada, AxisGroup.bContinueDataWriten will be set to TRUE.
The execution will not be recorded if it is not completed.
When there is currently Continue data, re-execute DMC_GroupInterrupt. The current Continue data will firstly
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be cleared. Whether to record new Continue for follow-up depends on if the execution is successful.
During the execution of DMC_GroupInterrupt, users might encounter the following situation:
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During DMC_GroupInterrupt execution, DMC_GroupInterrupt will be interrupted when triggering
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DMC_GroupStop.
During DMC_GroupInterrupt execution, when the second function block DMC_GroupInterrupt is re-
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triggered, it will be interrupted.
During DMC_GroupInterrupt execution, DMC_GroupInterrupt continues running when axis groups motion
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instructions are carried out. Motion instructions are at the Busy state until DMC_GroupInterrupt execution is
completed, and the instructions will be added into instruction buffer to start execution.
Troubleshooting
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When an error occurs in the execution of the instruction, bError turns to True, and the axis motion will stop.
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Refer to ErrorID (Error Code) to confirm the current error status.
For error codes and corresponding troubleshooting, refer to Appendix of this manual.
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Programming Example
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This example shows that the DMC_GroupInterrupt function block is run when the axis group is running. After
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the axis group stops running, the DMC_GroupContinue function block is used again to restore the axis group
motion.
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