Delta DVP-15MC Series - Page 833

Chapter 11 Motion Control Instructions
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11
Y a xis
（ ， ）100000 100000
X axis
LINREL1
（ ， ）250000 100000
LINREL1_Ex
LINREL1_Abt
LINREL1_Done
LINREL1_Err
LINREL1_Bsy
LINREL1_Act
LINREL2_Abt
LINREL2_Done
LINREL2_Err
LINREL2_Bsy
LINREL2_Act
LINREL2
0
 Set BufferMode to mcBlendingPrevious and TransitionMode to mcTMConstantVelocityand for
LINREL2.
 LINREL1_Dis [1] and LINREL1_Dis [2] of LINREL1 are both set to 100,000. LINREL2_Dis [1] and
LINREL2_Dis [2] of LINREL2 are set 150,000 and 0.
 ADDAXIS1 and ADDAXIS2 are executed first and then DMC_GroupEnable0 is executed. When the
axes group is enabled, LINREL1 is excecuted and then LINREL2 is executed immediately.
 When the terminal actuator gets to (100,000, 100,000) in the coordinate system, LINREL1_Done
changes to TRUE. Meanwhile LINREL2_Act changes to TRUE and LINREL2 starts to execute. At
the moment the velocity of the terminal actuator is the target velocity of the previous instruction,
20,000.
 After LINREL2 is executed, the terminal actuator conducts the smooth transition and then makes the
linear motion. The instruction execution is completed when the terminal actuator reaches the
coordinates (250,000,100,000).
 Programming Example 3
The example in which there are two DMC_MoveLinearRelative instructions and the transition mode
between them is mcTMCornerDistance is as follows.
1. The variable table and program
Variable name Data type Initial value
ADDAXIS1 DMC_AddAxisToGroup
ADDAXIS1_Ex BOOL
ADDAXIS1_Done BOOL