Delta AX Series Instruction Manual page 24

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
Velocity
MC_MoveVelocity
Execute
InVelocity
Busy
CommandAborted
Error
MC_Halt
Execute
Done
Busy
CommandAborted
Error
State Machine
When Execute of MC_Halt changes to True, it triggers CommandAborted of MC_MoveVelocity at the same time,

and the motion controller starts to decelerate the axis to a stop. The Axis state changes to the "DiscreteMotion".
When the axis reaches zero velocity, Done will change to True. The axis state will change to "Standstill".

When MC_Halt is not decelerating the axis to zero velocity and Execution is True, the Execute input of

MC_MoveVelocity will change to True again and stop MC_Halt. Which CommandAboted will change to True
with the axis state transferred from discrete_motion to continuous_motion.
300
0
continuous motion(5)
discrete motion(4)
standstill(3)
Ch a p t er 2
1 9