Delta DVP-15MC Series User Manual

DVP-15MC Series Motion Controller Operation Manual
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1
The input Velocity of DMC_MoveLinearAbsolute is the target velocity of the terminal actuator. The
velocity of the terminal actuator and velocities of axes have the following relationship.
Square of terminal actuator’s velocity= Sum of squares of velocities of axes
The inputs Acceleration and Deceleration of DMC_ MoveLinearAbsolute are the target acceleration
and target deceleration of the terminal actuator. The acceleration and deceleration of the terminal
actuator and acceleration and deceleration of axes have the following relationship.
Terminal actuator’s acceleration
（deceleration）= Sum of squares of acceleration（deceleration）
of axes
2. The Jerk of DMC_MoveLinearAbsolute instruction is reserved.
3. See the relationship among BufferMode, TransitionMode and TransitionParameter as follows. If
mcBuffered is selected as BufferMode, TransitionMode supports mcTMNone only. If
mcBlendingPrevious is selected as BufferMode, TransitionMode supports the two modes:
mcTMConstantVelocity and mcTMCornerDistance.
BufferMode
value
TransitionMode
value
Description
mcBuffered(1) mcTMNone(0)
Wait until the previous interpolation instruction execution is
finished and then execute current instruction immediately.
mcBlending-
Previous(3)
mcTMConstant-
Velocity(2)
Smooth transition: Wait till the previous interpolation
instruction execution is completed and then execute
current instruction immediately. The transition velocity is
the resultant velocity of the previous instruction. After the
instruction switch, the terminal actuator conducts the
smooth transition and then makes the linear motion as
illustrated in the following example 2.
mcTMCorner-
Distance(3)
Corner-distance transition: Wait till the previous
interpolation instruction execution is completed and then
execute current instruction immediately. When the
distance between the terminal actuator position and the
final position of the previous interpolation instruction
equals the value of TransitionParameter during the
execution of the previous interpolation instruction, the
previous interpolation instruction execution is completed
immediately and then current instruction execution starts.
During the execution of the current instruction, the terminal
actuator moves for a circular path and then makes a linear
interpolation.The distance between the end point of the
circular arc and the end point of the previous interpolation
instruction is still equal to the value of TransitionParameter
as illustrated in the following example 3.
 Programming Example 1
The example in which one DMC_MoveLinearAbsolute instruction is executed is as follows.
1. The variable table and program
Variable name Data type Initial value
ADDAXIS1 DMC_AddAxisToGroup
ADDAXIS1_Ex BOOL
ADDAXIS1_Done BOOL
ADDAXIS1_Bsy BOOL
ADDAXIS1_Err BOOL
ADDAXIS1_ErrID WORD
ADDAXIS 2 DMC_AddAxisToGroup

Delta DVP-15MC Series Specifications

General

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