Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
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11
2. Motion Curve and Timing Charts:

As Rel_Ex changes from FALSE to TRUE, MC_MoveRelative instruction execution starts and
MC_SetPosition is executed 3 seconds later after MC_MoveRelative is executed.

The command position is 6000 as MC_SetPosition starts being executed and 4000 after the
instruction execution is completed. The position is 8000 as MC_MoveRelative execution ends.

MC_SetPosition does not affect the motion which is being performed through observing the
above velocity change curve.

Programming Example 3
The following example shows how MC_SetPosition execution affects MC_MoveAbsolute instruction
which is being executed. The actual execution effect of MC_MoveAbsolute which is being executed is
not be impacted by MC_SetPosition.
1. The variable table and program
Variable name Data type Initial value
Abs MC_MoveAbsolute
Axis1 USINT 1
Abs_Ex BOOL FALSE
Abs_Dir MC_DIRECTION 1
Abs_Done BOOL
Abs_Bsy BOOL
Abs_Act BOOL
Rel
3000
6000
Rel_Ex
Rel_Done
Rel_Bs y
Rel_Ac t
Rel_Abt
Rel_Err
S etPos E rr
SetPos _Ex
SetPos _Done
SetPos _Bs y
SetPos
Velocity
P osition
Time
Time
4000
8000