Delta DVP-15MC Series - Page 858

DVP-15MC Series Motion Controller Operation Manual
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1
2. Motion Curve in the X-Y coordinate system and Timing Chart
1000
0
X
1000
2000
2000 4000
3000
Y
CIRREL
CIRREL_Ex
CIRREL_Abt
CIRREL_Done
CIRREL_Err
CIRREL_Bsy
CIRREL_Act
A
B
C
 The value of CIRREL_Mode is set to 0. The value of CIRREL_ Auxp[1] is set to 1000. The value of
CIRREL_Auxp[2] is set to -2000. The value of CIRREL_Endp[1] is set to 3000. The value of
CIRREL_Endp[2] is set to -1000. The value of CIRREL_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+CIRREL_Auxp[1]=2000, 3000+CIRREL_Auxp[2]=1000).
Point C is the end point of the arc with coordinates (1000+CIRREL_Endp[1]=4000,
3000+CIRREL_Endp[2]=2000).
 After DMC_MoveCircularRelative 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.