Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
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11

When Addt_Ex changes from FALSE to TRUE, the motion controller controls the motion
of the servo motor by taking current position as the reference point. Meanwhile,
Addt_Bsy
changes to TRUE and one period later, Addt_Act changes to TRUE. After the
set distance is reached by the servo motor, Addt_Done changes from FALSE to TRUE
and meanwhile Addt_Bsy and Addt_Act change from TRUE to FALSE.

When Addt_Ex changes from TURE to FALSE, Addt_Done is reset.

When Addt_Ex changes from FALSE to TRUE again after the servo motor reaches the
set distance, the motion controller controls the motion of the servo motor and
Addt_Done changes from FALSE to TRUE once again after the servo motor reaches
the set distance.

Programming Example 2
Below is an example on the execution of two MC_MoveAdditive instructions in the same task list.
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
Addt1 MC_MoveAdditive
Addt1_Ex BOOL FALSE
Addt1_BM MC_Buffer_Mode 0
Addt1_Done BOOL
Addt1_Bsy BOOL
Addt1_Act BOOL
Addt1_Abt BOOL
Addt1_Err BOOL
Addt1_ErrID WORD
Addt2 MC_MoveAdditive
Addt2_Ex BOOL FALSE
Addt2_BM MC_Buffer_Mode 0
Addt2_Done BOOL
Addt2_Bsy BOOL
Addt2_Act BOOL
Addt2_Abt BOOL
Addt2_Err BOOL
Addt2_ErrID WORD