Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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1
2. Motion Curve in the X-Y coordinate system and Timing Chart
10 00
0
X
1 00 0
2 00 0
200 0 40 00
3 00 0
Y
C IRREL
CIRR EL_Ex
CIR REL_ Ab t
C IRR EL _D one
CIR REL_ Err
CIR REL_ Bsy
CIRR EL_Act
A
B
C

The value of CIRREL_Mode is set to 0. The value of CIRREL_ Auxp[1] is set to 1000. The value of
CIRREL_Auxp[2] is set to -2000. The value of CIRREL_Endp[1] is set to 3000. The value of
CIRREL_Endp[2] is set to -1000. The value of CIRREL_Mode is set to 0.

Point B is the start point of the arc with coordinates (1000, 3000). Point A is the center of the circle
where the arc is with the coordinates (1000+CIRREL_Auxp[1]=2000, 3000+CIRREL_Auxp[2]=1000).
Point C is the end point of the arc with coordinates (1000+CIRREL_Endp[1]=4000,
3000+CIRREL_Endp[2]=2000).

After DMC_MoveCircularRelative instruction is executed, the clockwise circular interpolation is
conducted by starting from point B and regarding point A as the center. The instruction execution is
finished when point C is reached.