Delta DVP-15MC Series - Mc_Moveadditive

DVP-15MC Series Motion Controller Operation Manual
11-46
11
1
MC_MoveAdditive
FB/FC Explanation Applicable model
FB
MC_MoveAdditive is used to make the axis move an additive distance at
a given speed, acceleration and deceleration.
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)
-
ContinuousU
pdate
Reserved - - -
Distance
Specify the additive distance.
(Unit: Unit)
LREAL
Negative number,
positive number or 0
(0)
When Execute
changes from
FALSE to TRUE
Velocity
Specify the target velocity.
(Unit: Unit/s)
LREAL
Positive number or 0
(0)
When Execute
changes from
FALSE to TRUE
Acceleration
Specify the target acceleration.
(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.
(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 target
acceleration and 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: Blending Previous
4: BlendingNext
5: Blending High
MC_Buffer_
Mode
0： mcAborting
1： mcBuffered
2： mcBlendingLow
3： mcBlendingPrevio
us
4： mcBlendingNext
5： mcBlendingHigh
（0）
When Execute
changes from
FALSE to TRUE
Notes:
MC_MoveAdditive
Axis Done
MC_MoveAdditive_instance
Execute
ContinuousUpda te
Busy
Active
Distance
Error
ErrorID
CommandAborted
Acceleration
Deceleration
Jerk
BufferMode
Velocity