User manual

4. Motion Control Instructions
4-30 DVP-MC operating manual
 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
API
Controller
06
MC_Stop
Stop instruction
10MC11T
Explanation of the Instruction:
MC_Stop is applied to control the terminal actuator to decrease the speed at the given acceleration till it stops
moving. During execution of this instruction, any other instruction can not abort it.
Explanation of input and output parameter of the instruction:
Parameter
name
Explanation
Data
type
Available
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
Note:
1. When
MC_Stop instruction is being executed, “Execute”: rising edge occurs, which does not impact the
execution of the instruction.
2. When the velocity, acceleration and deceleration of the instruction are read via human-computer
interface, their value types must be set as Double Words (
Floating).