Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-360
11
1
2. See the entire motion process after the instruction is executed.
X
Z
Y
50000
60000
70000
20000
20000
20000
A
B
3. X axis-Y axis-Z axis Motion Curve and Timing Chart
Pos it ion
T
D MC_Mov eLinearRelat ive0
LI NREL_Exe
LI NREL_Abt
LI NR EL_D one
LI NR EL_Err
LIN REL_Bs y
LI NR EL_Ac t
0
20000
Y
X
70000
50000
60000
Z

The start positions of X axis, Y axis and Z axis are all 20,000. LINREL_Dis[1], LINREL_Dis[2] and
LINREL_Dis[3] of DMC_MoveLinearRelative are set to 30,000, 40,000 and 50,000 respectively.

When LINREL_Ex changes to TRUE, LINREL_Bsy changes to TRUE. Two cycles later, LINREL_Act
changes to TRUE and the axes group starts to run.

X axis, Y axis and Z axis reach respecitve target positions simultaneously, LINREL_Done changes
to TRUE and LINREL_Bsy and LINREL_Act change to FALSE when the execution of
DMC_MoveLinearRelative instruction is completed.