Delta DVP-15MC Series - Page 836

DVP-15MC Series Motion Controller Operation Manual
11-366
11
1
2. Motion Curve and Timing Chart of the terminal actuator
Y a xis
100000
X axis
LINREL1
250000
LINREL1_Ex
LINREL1_Abt
LINREL1_Done
LINREL1_Err
LINREL1_Bsy
LINREL1_Act
LINREL2_Abt
LINREL2_Done
LINREL2_Err
LINREL2_Bsy
LINREL2_Act
LINREL2
（ ， ）0 0
A
100000
B
C
D
 Set BufferMode to mcBlendingPrevious, TransitionMode to mcTMCornerDistance and
TransitionParameter to 10000 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 point B in the coordinate system, LINREL1_Done changes to
TRUE. Meanwhile LINREL2_Act changes to TRUE and LINREL2 starts to execute.
 After LINREL2 is executed, the terminal actuator moves along an arc and then continues to make
the linear interpolation after passing by point C.
 The distance from point B to point A equals that from point C to point A. It is also equal to 10,000, the
value of TransitionParameter of LINREL2.