Delta DVP-15MC Series, Operation Manual

Page: 533 / 972

Chapter 11 Motion Control Instructions
11-63
11
MC_MoveSuperimposed
FB/FC Explanation Applicable model
FB
MC_MoveSuperimposed controls the axis to superimpose the set
distance on the current motion state according to the set velocity,
acceleration and deceleration.
DVP15MC11T
DVP15MC11T-06

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of the
axis which is to be
controlled.
USINT
Refer to Functions
of Section 2.2.
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Execute
The instruction is
executed when
Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
-
ContinuousUpdate Reserved - - -
Distance
The distance to
superimpose
（
Unit:
Unit
）
LREAL
Negative number,
positive number and
0
(0)
When Execute
changes from
FALSE to TRUE
Velocity
Specify the target velocity.
(Unit: Unit/second)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Acceleration
Specify the target
acceleration rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Deceleration
Specify the target
deceleration rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Jerk
Specify the change rate of
the target acceleration or
deceleration.
(Unit: Unit/s
3 )
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Notes:
1. MC_MoveSuperimposed instruction is executed when Execute changes from FALSE to TRUE.
There is no impact on the instruction execution when Execute of the instruction changes from
TRUE to FALSE during execution of the instruction.
2. When Execute changes from FALSE to TRUE again during execution of the instruction, there is no
impact on the instruction execution and the instruction will go on being executed in the previous
way. When
Execute changes from FALSE to TRUE again after the instruction execution is
completed, the instruction can be re-executed.
3. Refer to section 10.2 for the relation among Velocity, Acceleration, Deceleration and Jerk .
MC_MoveSuperimpo sed
Ax is Done
MC_MoveSu perimposed_ins tance
Ex ecut e
Cont inuous Upda te
Busy
Ac tiv e
Distanc e
Error
ErrorID
CommandAborted
Ac celeration
Deceleration
Jerk
Veloc it y
CoveredDistanc e