4. Motion Control Instructions Notes: 1. As the servo is not enabled, the instruction is invalid and OutOfRange is OFF even if the deviation between the servo command position and feedback position is greater than Lag value. The instruction is valid only when the servo is enabled. 2. OutOfRange of the instruction can be used to trigger MC_Stop instruction and make the axis which need be stopped stop moving. 3. The V1.06 or above firmware supports this function. Program Example The absolute deviation between the command position and feedback position is greater than Lag value, OutOfRange is ON and MC_Stop instruction is triggered to stop axis 1 and axis 2 again by the output.
4-56 DVP-MC operating manual Parameter Available Explanation Data type name device Busy Busy is ON as Enable is ON. Busy is OFF as Enable is OFF. BOOL M,Q Error If any error is detected, "Error" turns on; as "Enable" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to selection 5.3. UINT D