Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-354
11
1
DMC_MoveLinearRelative
FB/FC
Explanation Applicable model
FB
DMC_MoveLinearRelative controls axes to perform the linear
interpolation motion. The end positions of axes are relative
positions.
DVP15MC11T
DVP15MC11T-06
DMC_MoveLinearRelat iv e
Ax esGroup Done
DMC_MoveLinearRelat iv e_ins tanc e
Ex ecut e
Distanc e
Busy
Ac tive
CommandAb ort ed Veloc it y
Acc eleration
Deceleration
J erk
CoordSys tem
Buff erMode
Trans it ionMode
Trans it ionPa rameter
Error
ErrorID

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
AxesGroup The axes group number USINT
1~8
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE.
Execute
The instruction is
executed when
Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
（
FALSE
）
Distance
Set the distances that
axes move ARRAY [1..8]
OF LREAL
Negative number,
Positive number, 0,
（
0
）
When Execute
changes from
FALSE to TRUE.
Velocity
Set the maximum
resultant velocity. (Unit:
Unit/second)
LREAL
Positive
（
0
）
When Execute
changes from
FALSE to TRUE.
Acceleration
Set the maximum
resultant acceleration
(Unit: Unit/second
2
)
LREAL
Positive
（
0
）
When Execute
changes from
FALSE to TRUE.
Deceleration
Set the maximum
resultant deceleration
(Unit: Unit/second
2
)
LREAL
Positive
（
0
）
When Execute
changes from
FALSE to TRUE.
Jerk
Set the maximum
resultant jerk
(Unit: Unit/second
3 )
LREAL
Positive
（
0
）
When Execute
changes from
FALSE to TRUE.
CoordSystem Reserved
BufferMode
Specify the buffer mode MC_Buffer_
1: mcBuffered
When Execute