Delta DVP-15MC Series User Manual

Chapter 11 Motion Control Instructions
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11
2. Motion Curve and Timing Charts:
 As Rel_Ex changes from FALSE to TRUE, MC_MoveRelative instruction execution starts and
MC_SetPosition is executed 3 seconds later after MC_MoveRelative is executed.
 The command position is 6000 as MC_SetPosition starts being executed and 4000 after the
instruction execution is completed. The position is 8000 as MC_MoveRelative execution ends.
 MC_SetPosition does not affect the motion which is being performed through observing the
above velocity change curve.
 Programming Example 3
The following example shows how MC_SetPosition execution affects MC_MoveAbsolute instruction
which is being executed. The actual execution effect of MC_MoveAbsolute which is being executed is
not be impacted by MC_SetPosition.
1. The variable table and program
Variable name
Data type
Initial value
Abs
MC_MoveAbsolute
Axis1 USINT 1
Abs_Ex
BOOL
FALSE
Abs_Dir
MC_DIRECTION
1
Abs_Done BOOL
Abs_Bsy
BOOL
Abs_Act
BOOL
Rel
3000
6000
Rel_Ex
Rel_Done
Rel_Bsy
Rel_Act
Rel_Abt
Rel_Err
SetPos Err
SetPos_Ex
SetPos_Done
SetPos_Bsy
SetPos
Velocity
Position
Time
Time
4000
8000

Delta DVP-15MC Series Specifications

General

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