Delta Electronics DVP15MC11T User Manual

DVP15MC11T Operation Manual
10
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.
Disable
StandStill
Homing
D
o
n
e
Note6
Note1
ErrorStop
Stopping
Discrete M otion
Continuous
Motion
Synchronized
Motion
D
o
n
e
M
C
_
H
o
m
e
MC_S to p
MC_Stop
M
C
_
S
t
o
p
MC_MoveVelo city
MC_MoveAb so lute
MC_ MoveRela tive
MC_Mo veA dditive
MC_M ove Super im posed
MC_MoveVelocity
MC_MoveVelocity
MC_Mo veS uperi mpo se d
MC_Mo ve Velocity
MC_MoveAb so lute
MC_MoveR elative
MC_Mo veA dditive
MC_S to p
MC_Gea rOut
MC_ CamOut
N
o
t
e
4
Note3
Note5
N
o
t
e
2
MC_Ge arIn(S lave)
MC_CamIn(Slave)
MC_C omb ineAxes(Slave)
MC_Mo veA bso lute
MC_Mo veR el ative
MC_Mo veA dditive
MC_Mo veS uperi mpo se d
MC_Ha lt
MC_Ha ltSuper imposed
MC_ GearIn(Slave)
MC_ CamIn(Slave)
MC_ MoveSu perimposed (Slave)
MC_ Combin eAxes(Slave)
MC_Gear In(Sla ve )
MC_Cam In(Sl ave )
MC_C ombineAxes(Slave)
MC_Gear In (Sla ve )
MC_C amIn( Slave)
MC_C om bineA xes(S lave)
MC_MoveAbsolu te
MC_Mo ve Rel ative
MC_ Halt
MC_H alt
Note1：The axis in any state will enter the ErrorStop state as long as an error occurs in the axis.
Note2：The axis enters the Disabled state when no axis error occurs in any state and Enable of MC_Power
is FALSE.
10-32

Delta Electronics DVP15MC11T Specifications

General

Brand	Delta Electronics
Model	DVP15MC11T
Category	Controller
Language	English