Delta DVP-20PM

5 Applied Instructions and Basic Usage
5.10.3 Absolute Two-speed Motion
1. Motion control function block
The motion control function block T_AbsSeg2 is used to start absolute two-speed motion. After
absolute two-speed motion is started, the speed of the absolute two-speed motion will increase from
the V
BIAS
set to the V (I) set. The speed of the absolute two-speed motion will not increase/decrease
from the V (I) set to the V (II) set until the present command position of the axis specified is near the P
(I) set. The speed of the absolute two-speed motion will not decrease from the V (II) set to the V
BIAS
set
until the present command position of the axis specified is near the P (II) set. The P (I) set must be
between the present command position of the axis specified and the P (II) set. Users can set the Vbias
input pin, the Vmax input pin, the Tacc input pin, and the Tdec input pin in the motion control function
block T_AxisSetting1. The number of pulses is a unit for the Position1 input pin/the Position2 input pin,
and the number of pulses per second is a unit for the Velocity1 input pin/the Velocity2 input pin. The
users can change the unit used by means of the motion control function block T_AxisSetting2.
Speed
T
ACC T DEC
V MAX
Position
V
BIAS
V1
V2
Execute
Positon 2
Positon 1
2. Input pins/Output pins
Input pin
Name Function
Data
type
Setting value Time when a value is valid
Axis
Motion axis
number
WORD
DVP20PM00D:
K1~K2
DVP20PM00M:
K1~K3
The value of the Axis input pin is valid
when there is a transition in the
Execute input pin’s signal from low to
high.
Execute
Motion is started
when there is a
transition in the
Execute input
pin’s signal from
low to high.
BOOL True/False -
Position1
Absolute position
of the first motion
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the Position1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
Velocity1
Target speed of
the first motion
DWORD K1~K2,147,483,647
The value of the Velocity1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DVP-20PM Application Manual
5-160