Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-353
11
2. See the motion curve and timing chart of the terminal actuator.
Y axis
100000
X ax is L INA B S1
250000
LIN AB S1_Ex
LIN ABS1_Abt
LIN ABS 1_D one
LIN ABS1_Er r
LIN ABS1_Bs y
LINA BS1_Act
LIN ABS2_Abt
LIN ABS 2_D one
LIN ABS2_Er r
LIN ABS2_Bs y
LINA BS2_Act
L INA B S2
（ ， ）
0 0
A
100000
B
C
D

Set BufferMode to mcBlendingPrevious, TransitionMode to mcTMCornerDistance and
TransitionParameter to 10000 for LINABS2.

The values of LINABS1_Pos [1] and LINABS1_Pos [2] of LINABS1 are both set to 100,000. And the
values of LINABS2_Pos [1] and LINABS2_Pos [2] of LINABS2 are set to 250,000 and 100,000
respectively.

ADDAXIS1 and ADDAXIS2 are executed first and then DMC_GroupEnable0 is executed. When the
axes group is enabled, LINABS1 is excecuted and then LINABS2 is executed immediately.

When the terminal actuator gets to point B in the coordinate system, LINABS1_Done changes to
TRUE. Meanwhile LINABS2_Act changes to TRUE and LINABS2 starts to execute.

After LINABS2 is executed, the terminal actuator moves along an arc path till it reaches point C.
Afterward it continues to make the linear interpolation.

The distance from point B to point A equals that from point C to point A. It is also equal to 10,000, the
value of the input
TransitionParameter of LINABS2.