Delta Electronics DVP15MC11T, Operation Manual

Page: 362 / 601

Chapter 12 Troubleshooting
11

Distance
Distance and the start position for reference jointly determine the target position which the axis will reach
under control of the instruction. The target position= the start position for ref Distance .
When Distance is set to 0, the target position for the axis motion is set as current position. The instruction
execution is finished in the next cycle since its execution and Done changes to TRUE.
As illustrated in the following left figure, the start position for reference is 10000. The axis moves in the
positive direction and the target position is 20000 (10000+10000) when Distance>0 (10000).
In the following right figure, the axis moves in the negative direction and the target position is 0
(10000-10000) when Distance<0(-10000).

Programming Example 1
The programming example is as follows when one MC_MoveRelative instruction is used.
1. The variables and program
Variable name Data type Initial value
Pwr MC_Power
Axis1 USINT 1
Pwr_En BOOL FALSE
Pwr_BM MC_Buffer_Mode 0
Pwr_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Rel MC_MoveRelative
Rel _Ex BOOL FALSE
Rel _BM MC_Buffer_Mode 0
Rel _Done BOOL
Rel _Bsy BOOL
Rel _Act BOOL
Rel _Abt BOOL
Rel _Err BOOL
Rel _ErrID WORD
Pos ition
20000
10000
Dis tanc e= 10000 Dist ance =-1000 0
P osit io n
200 00
100 00
S ta rt P osi ti on
Dista nce>0 D istance <0
Star t Po sitio n
Tar g et P osi tio n
Ta rg et Po siti on
Time Time
0
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