Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
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11

Explanation of Instruction Application Situation
When MC_SetPosition is executed on the master axis which is in the built multi-axis relationship, the
master axis position change incurred by the instruction does not affect the slave axis. That is, the slave
axis will make any motion accordingly when the master axis position change incurred by
MC_SetPosition.
When MC_SetPosition is executed on the slave axis, the slave axis position will change but the original
relationship between slave axis and master axis will not be influenced.
MC_SetPosition will report an error when it is executed in the process of execution of MC_Stop. But
MC_SetPosition can be executed normally after MC_Stop execution is completed.

Programming Example 1
The following example shows the impact of MC_SetPosition execution on the positioning instruction
when
Relative of MC_SetPosition instruction is TRUE.
1. The variable table and program
Variable name Data type Initial value
Rel MC_MoveRelative
Axis1 USINT 1
Rel_Ex BOOL FALSE
Rel_Done BOOL
Rel_Bsy BOOL
Rel_Act BOOL
Rel_Abt BOOL
Rel_Err BOOL
Rel_ErrID WORD
Tn TON
Tn_In BOOL FALSE
SRe SR
SRe_Q BOOL
SetPos SetPosition
SetPos_Ex BOOL FALSE
SetPos_RefTp MC_REFERECNE TYPE 0
SetPos_Done BOOL
SetPos_Bsy BOOL
SetPos_Err BOOL
SetPos_ErrID WORD