Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
10-26
10

Vel _BM =mcAborting

As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later,
Rel_Act changes to TRUE. When the target position is not reached, Vel_Ex changes from
FALSE to TRUE, the axis moves at the velocity and acceleration specified by the velocity
instruction. When Rel_Abt changes to TRUE, Rel_Bsy and Rel_Act change to FALSE, the
MC_MoveRelative instruction is aborted and the velocity instruction is executed. Vel_Bsy is
TRUE and one period later, Vel_Act changes to TRUE. As the velocity is reached, Vel_Invel
changes to TRUE.
Rel_Vel
S
2
S
1
Vel_Vel
Re l_ Ex
Rel_Done
Rel_Bs y
Rel_A ct
Rel_Abt
Veloc it y
Pos it ion
Time
T ime
Rel
Ve l_ Ex
Vel_Bs y
Vel A ct
Vel_I nv el
Vel