Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
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11
7. Before the instruction controls axes motion, axes should be adjusted with single-axis instructions to
the position where G code execution starts first. Then DMC_ AddAxisToGroup is used to add
individual axes to the axes group. Afterwards, DMC_SetG0Para and DMC_SetG1Para are used to
set relevant parameters of G0 and G1/G2/G3. Finally the DMC_CartesianCoordinate instruction is
executed to control axes for interpolation along the path planned via G codes.

Programming Example
1. The variable table and program
Variable name Data type Initial value
Pwr MC_Power
Axis1 USINT 1
Pwr_En BOOL FALSE
Pwr_BM MC_Buffer_Mode 0
Pwr_Sta BOOL
Pwr_Bsy BOOL
Pwr_Act BOOL
Pwr_Err BOOL
Pwr_ErrID WORD
Pwr1 MC_Power
Axis2 USINT 2
Pwr1_BM MC_Buffer_Mode 0
Pwr1_Sta BOOL
Pwr1_Bsy BOOL
Pwr1_Act BOOL
Pwr1_Err BOOL
Pwr1_ErrID WORD
ATG DMC_AddAxisToGroup
Axes1 USINT 1
ATG_Ex BOOL FALSE
ATG_Done BOOL
ATG_Bsy BOOL
ATG_Err BOOL
ATG_ErrID WORD
ATG1 DMC_AddAxisToGroup
ATG1_Ex BOOL FALSE
ATG1_Done BOOL
ATG1_Bsy BOOL
ATG1_Err BOOL
ATG1_ErrID WORD
SG1
DMC_SetG1Para
SG1_AG USINT 1
SG1_Ex BOOL FALSE
SG1_Vel LREAL 10000
SG1_Acc
LREAL
5000
SG1_Dec
LREAL
5000
SG1_Jer
LREAL
5000
SG1_Done BOOL