Delta DVP-15MC Series - Page 537

Chapter 11 Motion Control Instructions
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2. Motion Curve and Timing Chart:
 When Sup_Ex changes to TRUE, Sup_Bsy changes to TRUE. One cycle later, Sup_Act
changes to TRUE and the motion controller controls the servo motor to run by using current
position as the reference point.
 After the servo motor completes the superimposed positioning, Sup_Done changes to TRUE
and meanwhile Sup_Bsy and Sup_Act change to FALSE.
 When Sup_Ex changes to FALSE, Sup_Done changes to FALSE.
 When Sup_Ex changes to TRUE again after the servo motor completes the set distance, the
motion controller controls the servo motor to run. When the servo motor completes the set
distance, Sup_Done changes to TRUE again.
 Programming Example 2
Below is the example that MC_MoveSuperimposed and MC_MoveRelative instructions are matched.
1. The variable table and program
Variable name
Data type
Initial value
Pwr
MC_Power
Axis1
USINT
1
Pwr_En
BOOL
FALSE
Pwr_BM
MC_Buffer_Mode
0
Pwr_Sta BOOL
Pwr_Bsy
BOOL
Pwr_Act
BOOL
Pwr_Err BOOL
Pwr_ErrID
WORD
Rel
MC_MoveRelative
Rel_Ex
BOOL
FALSE
Rel_Done
BOOL
Rel_Bsy
BOOL
Rel_Act
BOOL
Rel_Abt
BOOL
Rel_Err
BOOL
Rel_ErrID
WORD
300
2000
7000
12000
Sup_Ex
Sup_Done
Sup_Bsy
Sup_Act
Sup_Abt
Sup_Err
Position
Velocity
Time
Time
Sup