Delta DVP-15MC Series - Page 831

Chapter 11 Motion Control Instructions
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11
 Programming Example 2
See the following example in which there are two DMC_MoveLinearRelative instructions and the
transition mode between them is mcTMConstantVelocity.
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
ADDAXIS2 DMC_AddAxisToGroup
ADDAXIS2_Done BOOL
ADDAXIS2_Bsy BOOL
ADDAXIS2_Err BOOL
ADDAXIS2_ErrID WORD
DMC_GroupEnable0 DMC_GroupEnable
GE_En BOOL
GE_Vel ARRAY [1..8] OF LREAL
GE_Acc ARRAY [1..8] OF LREAL
GE_Dec ARRAY [1..8] OF LREAL
GE_Jerk ARRAY [1..8] OF LREAL
GE_Status BOOL
GE_Bsy BOOL
GE_Abt BOOL
GE_Err BOOL
GE_ErrID WORD
LINREL1 DMC_MoveLinearRelative
LINREL1_Ex BOOL
LINREL1_Dis ARRAY [1..8] OF LREAL
LINREL1_Done BOOL
LINREL1_Bsy BOOL
LINREL1_Act BOOL
LINREL1_Abt BOOL
LINREL1_Err BOOL
LINREL1_ErrID WORD
LINREL2 DMC_MoveLinearRelative
LINREL2_Dis ARRAY [1..8] OF LREAL
LINREL2_Done BOOL