Vector VEC-VA Series, Programming Manual

Page: 343 / 649

VA Motion Controller Programming Manual
338
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When Rel_Ex becomes TRUE, after a period, Rel_Bsy and Rel_Act becomes
TRUE, the motion controller controls the operation of the servo motor to the current position
as a reference point. Sup_Ex becomes TRUE when, after a period, Sup_Bsy and Sup_Act
becomes TRUE, MC_MoveSuperimposed instruction starts execution, and an acceleration of
the servo motor speed will (in this case acceleration is 0 axis) is superimposed.

When Hltsup_Ex becomes TRUE, after a period, Hltsup_Bsy and Hltsup_Act
becomes TRUE, MC_HaltSuperimposed instruction starts execution,
MC_MoveSuperimposed instruction was interrupted, Sup_Bsy, Sup_Act becomes FALSE,
while Sup_Abt becomes TRUE. MC_HaltSuperimposed instruction interrupt
MC_MoveSuperimposed instruction execution.

When Hltsup_Done becomes TRUE, Hltsup_Bsy and Hltsup_Act become FALSE.

MC_HaltSuperimposed instruction execution does not affect the execution of
MC_MoveRelative instructions.