4. Motion Control Instructions Motion controller controls servo motor rotation as M2 turns Off→On; M3 turns Off→On when servo motor has not reached target speed; M21 of "Abort" of the first instruction turns Off→On and servo motor accelerates to the speed of the second MC_MoveVelocity instruction to run; M30 of "Invelocity" turns Off→On after servo motor is up to the target speed. M30 of "Invelocity" turns On→Off when M3 turns On→Off. 4.4.6. MC_Stop Explanation of the Instruction: MC_Stop controls the terminal actuator to decrease its speed at the given acceleration till it stops moving.
During execution of this instruction, an error will occur in them if other motion instructions are executed. The instruction MC_Stop which is being executed will be aborted if another MC_Stop instruction with the same axis number is executed. Explanation of input and output parameter of the instruction: Notes: 1. When MC_Stop instruction is being executed, “Execute ”: rising edge occurs, which does not impact the execution of the instruction. 2. MC_Stop instruction can be executed for the slave axis specified by MC_ GearIn, MC_ CamIn and APF_RotaryCut_In. The multi-axis relations are disabled when MC_Stop is exectuted.
MC_Stop instruction can not be executed for the slave axis specified by APF_FlyingShear, DMC_NC and DNC_Group. 3. When the velocity, acceleration and deceleration of the instruction are read via human machine interface, their value types must be set as Double Words ( Floating). DVP-MC operating manual 4-33 API Stop instruction Controller 06 MC Stop _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, Constant Deceleration Deceleration of terminal actuator and this parameter is always positive. (Unit:
unit/second2) REAL Constant, D Done “Done” turns on as speed is decelerated to 0; “Done” bit is reset as “Execute” turns off. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to table 5.3. UINT D