Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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11
1
2. Motion Curve and Timing Chart

When Rel_Ex changes to TRUE, Rel_Bsy changes to TRUE. One cycle later, Rel_Act
changes to TRUE and the motion controller controls the servo motor rotation by using the
current position as the reference point. When Sup_Ex changes to TRUE, Sup_Bsy changes to
TRUE. One cycle later, Sup_Act changes to TRUE, the execution of the
MC_MoveSuperimposed instruction starts and the velocities and accelerations (0 at the
moment) for the servo motor will be added up respectively.

When Hltsup_Ex changes to TRUE, Hltsup_Bsy changes to TRUE. One cycle later,
Hltsup_Act changes to TRUE, the execution of the MC_HaltSuperimposed instruction starts,
the MC_MoveSuperimposed instruction is aborted and Sup_Bsy and Sup_Act change to
FALSE and meanwhile, Sup_Abt changes to TRUE. The execution of the
MC_MoveSuperimposed instruction is halted by the MC_HaltSuperimposed instruction.

When Hltsup_Done changes to TRUE, Hltsup_Bsy and Hltsup_Act change to FALSE.

The execution of the MC_HaltSuperimposed instruction has no impact on the being executed
MC_MoveRelative instruction.
500
1100
Rel_Ex
Sup_Ex
Sup_Done
Rel_A bt
Rel_Bsy
Sup_Bs y
Sup_A ct
Sup_Abt
Veloc it y
Time
S up
Rel
HltSup_Ex
HltSup_Done
Hlt Sup_Abt
Hlt Sup_Bsy
HltSup
Rel_Done
Rel_ Act
HltSup _Act