Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-357
11
Square of terminal actuator’s velocity= Sum of squares of velocities of axes
The inputs Acceleration and Deceleration of DMC_MoveLinearRelative are the target acceleration
and target deceleration of the terminal actuator. The acceleration and deceleration of the terminal
actuator and accelerations and decelerations of axes have the following relationship.
Terminal actuator
’
s acceleration
（
deceleration
）
= Sum of squares of acceleration
（
deceleration
）
of axes
2. The Jerk of DMC_MoveLinearRelative instruction is reserved.
3. See the relationship among BufferMode , TransitionMode and TransitionParameter as follows. If
mcBuffered is selected as BufferMode , TransitionMode supports mcTMNone only. If
mcBlendingPrevious is selected as BufferMode , TransitionMode supports the two modes:
mcTMConstantVelocity and mcTMCornerDistance.
BufferMode value
TransitionMode
value
Description
mcBuffered(1) mcTMNone(0)
Wait until the previous interpolation instruction execution
is finished and then execute current instruction
immediately.
mcBlending-
Previous(3)
mcTMConstant-
Velocity(2)
Smooth transition: Wait till the previous interpolation
instruction execution is completed and then execute
current instruction immediately. The transition velocity is
the resultant velocity of the previous instruction. After the
instruction switch, the terminal actuator conducts the
smooth transition and then makes the linear motion as
illustrated in the following example 2.
mcTMCorner-
Distance(3)
Corner-distance transition: Wait till the previous
interpolation instruction execution is completed and then
execute current instruction immediately. When the
distance between the terminal actuator position and the
final position of the previous interpolation instruction
equals the value of
TransitionParameter during the
execution of the previous interpolation instruction, the
previous interpolation instruction execution is completed
immediately and then current instruction execution starts.
During the execution of the current instruction, the
terminal actuator moves for a circular arc and then
makes a linear interpolation.The distance between the
end point of the circular arc and the end point of the
previous interpolation instruction is still equal to the value
of
TransitionParameter as illustrated in the following
example 3.

Programming Example 1
The example in which one DMC_MoveLinearRelative instruction is executed is as follows.
1. The variable table and program
Variable name Data type Initial value
ADDAXIS1 DMC_AddAxisToGroup
ADDAXIS1_Ex BOOL
ADDAXIS1_Done BOOL
ADDAXIS1_Bsy BOOL
ADDAXIS1_Err BOOL
ADDAXIS1_ErrID WORD
ADDAXIS2 DMC_AddAxisToGroup