Delta DVP-15MC Series, Operation Manual

Page: 452 / 972

DVP-15MC Series Motion Controller Operation Manual
10-16
10

Rel2_BM =mcBlendingLow

As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE. One period later,
Rel1_Act changes to TRUE and the first MC_MoveRelative instruction execution starts. While
the target position is not reached yet and Rel2_Ex changes from FALSE to TRUE, Rel2_Bsy
changes to TRUE, Rel1_Bsy and Rel1_Act remain TRUE and the first MC_MoveRelative
instruction execution continues. As the target position is reached, Rel1_Done changes to
TRUE. At the moment, the velocity is 300 units /second which is the lower one of the target
velocities of the current instruction and buffered instruction, Rel1_Bsy and Rel1_Act change to
FALSE, Rel2_Act changes to TRUE and the second MC_MoveRelative instruction execution
starts immediately. As the target position is reached, Rel2_Done changes to TRUE and
meanwhile Rel2_Bsy and Rel2_Act change to FALSE.

As Rel1_Ex changes from TRUE to FALSE, Rel1_Done changes to FALSE. As Rel2_Ex
changes from TRUE to FALSE, Rel2_Done changes to FALSE.
300
16000
4500
2000
500
Rel1_Ex
Rel1_ Do ne
Rel1_B sy
Rel1_ Act
Rel1_Abt
Vel ocit y
Pos it ion
Time
Time
Rel 1
Rel2_Ex
Rel2_B sy
Rel2_A ct
Rel2_Don e
Rel 2
7000