Delta DVP-15MC Series, Operation Manual

Page: 571 / 972

Chapter 11 Motion Control Instructions
11-101
11
The actual position that MC_ReadActualPosition reads should also include the position offset caused
by MC_SetPosition after MC_SetPosition is executed.
The conversion formula is shown as below.

Programming Example
This example shows the impact that MC_SetPosition has on the execution of MC_ReadActualPosition.
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
TON1 TON
SR1 SR
SetPos SetPosition
SetPos_Ex BOOL FALSE
SetPos_RefTp MC_REFERECNETYPE 0
SetPos_Done BOOL
SetPos_Bsy BOOL
SetPos_Err BOOL
SetPos_ErrID WORD
ReadAtPos ReadActualPosition
ReadAtPos_Vald BOOL
ReadAtPos_Bsy BOOL
ReadAtPos_Err BOOL
ReadAtPos_ErrID WORD
ReadAtPos_Pst LREAL
A ct ualPos ition =
+
MC
_
S etPo sition
Pos it ion off set
caus ed by
Units per ou tput rot ation
*
（ /
The number of pulses rot ation)
* mechanic al gear ratio
The number of se rv o pos it ion
feeddbac k puls es