Delta DVP-15MC Series User Manual

DVP-15MC Series Motion Controller Operation Manual
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11
1
MC_MoveRelative
FB/FC Explanation Applicable model
FB
MC_MoveRelative is used to make the axis move a given distance by
starting from the command current position at a given speed,
acceleration and deceleration and Jerk.
DVP15MC11T
DVP15MC11T-06
 Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of the axis
which is to be controlled
USINT
Refer to Functions of
Section 2.2.
(The variable value
must be set)
When Execute
changes from FALSE to
TRUE
Execute
The instruction is executed
when Execute changes from
FALSE to TRUE.
BOOL TRUE or FALSE (FALSE) -
ContinuousUpdate Reserved - - -
Distance
Specify the motion distance
from command current
position.
(Unit: Unit)
LREAL
Negative number,
positive number or 0
(0)
When Execute
changes from FALSE to
TRUE
Velocity
Specify the target velocity.
(Unit: Unit/second)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from FALSE to
TRUE
Acceleration
Specify the target acceleration
rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from FALSE to
TRUE
Deceleration
Specify the target deceleration
rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from FALSE to
TRUE
Jerk
Specify the change rate of the
target acceleration or
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from FALSE to
TRUE
BufferMode
Specify the behavior when
executing two instructions.
0: Aborting
1: Buffered
2: BlendingLow
3: BlendingPrevious
4: BlendingNext
5: BlendingHigh
MC_Buffer_
Mode
0： mcAborting
1： mcBuffered
2： mcBlendingLow
3： mcBlendingsPre
vious
4： mcBlendingNext
When Execute
changes from FALSE to
TRUE
MC_MoveRelative
Axis Done
MC_MoveRelative_instance
Execute
ContinuousUpdate
Busy
Active
Distance CommandAborted
Error
ErrorIDAcceleration
Deceleration
Jerk
BufferMode
Velocity

Delta DVP-15MC Series Specifications

General

Brand	Delta
Model	DVP-15MC Series
Category	Controller
Language	English