Delta DVP-15MC Series User Manual

Chapter 11 Motion Control Instructions
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2. Motion Curve in the X-Y Coordinate System and Timing Chart
1000
0
X
1000
2000
2000 4000
3000
Y
CIRABS
CIRABS_Ex
CIRABS_Abt
CIRABS_Done
CIRABS_Err
CIRABS_Bsy
CIRABS_Act
A
B
C
 The value of CIRABS_ Auxp[1] is set to 1000, the value of CIRABS_Auxp[2] is set to -2000, the value
of CIRABS_Endp[1] is set to 4000, the value of CIRABS_Endp[2] is set to 2000 and the value of
CIRABS_Mode is set to 0.
 Point B is the start point of the arc with coordinates (1000, 3000). Point A is the center of the circle
where the arc is with the coordinates (1000+CIRABS_Auxp[1]=2000, 3000+CIRABS_Auxp[2]=1000).
Point C is the end point of the arc with coordinates (CIRABS_Endp[1]=4000,
CIRABS_Endp[2]=2000).
 After DMC_MoveCircularAbsolute instruction is executed, the clockwise circular interpolation is
conducted by starting from point B and regarding point A as the center. The instruction execution is
finished when point C is reached.

Delta DVP-15MC Series Specifications

General

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