4. Motion Control Instructions Notes: 1. After the execution of this instruction is finished, the servo drive axis state will be reflected on the corresponding bit device. 2. This instruction triggered by high level will read the axis state constantly when “Enable” is on. 4.4.11. MC_ReadActualPosition Explanation of the Instruction: MC_ReadActualPosition is applied to read the actual position of the terminal actuator. This instruction triggered by high level will read the actual position of the terminal actuator constantly when “Enable” is on. Explanation of input and output parameter of the instruction:
DVP-MC operating manual 4-43 Parameter Data Available Explanation name type device Synchroniz eMotion “SynchronizeMotion” is on as axis is in synchronous motion status; “SynchronizeMotion” is reset as “Enable” turns on -> off. BOOL M,Q Homing “Homing” bit turns on as axis is in homing status; “Homing” is reset as “Enable” turns on -> off. BOOL M,Q API Read actual position Controller 11 MC ReadActualPosition _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Enable This instruction is executed as “Enable” turns on.
BOOL M,I,Q, Constant Done When actual position reading is completed, ""Done" turns on; when “Enable” turns on -> off, "Done" is reset. BOOL M,Q Error I If any error is detected, "Error" turns on; when "Enable" turns on -> off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D Position The actual position of the terminal actuator. (Unit: unit) REAL D