Delta DVP-15MC Series, Operation Manual

Page: 467 / 972

Chapter 10 Motion Control Function
10-31
10

Vel _BM =mcBlendingHigh

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 and Vel_Bsy changes to TRUE. The axis will wait for the completion of
MC_MoveRelative execution. After MC_MoveRelative execution is completed, Rel_Done
changes to TRUE, Rel_Bsy changes to FALSE and Rel_Act changes to FALSE. At the
moment, the velocity is 20000units/second (which is the higher one of the target speeds of the
current instruction and the buffered instruction). And then the axis runs according to the
velocity, acceleration and deceleration specified by the velocity instruction. Vel_Invel changes
to TRUE when the target velocity is reached.
Rel_Vel
S
2
S
1
Vel_Vel
Rel_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
R el_Dis t