Delta Electronics DVP15MC11T, Руководство по эксплуатации

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DVP15MC11T Operation Manual
11
1
11.3.6 MC_MoveRelative
FB/FC Explanation Applicable model
FB
MC_MoveRelative is used to make the axis move a given distance by
starting from the command current position at a given speed, acceleration
and deceleration and Jerk.
DVP15MC11T

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of the
axis which is to be
controlled
USINT
1~32
(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)
-
ContinuousUpdate Reserved - - -
Distance
Specify the motion distance
from command current
position.
(Unit: Unit)
LREAL
Negative number,
positive number or 0
(0)
When Execute
changes from
FALSE to TRUE
Velocity
Specify the target velocity.
(Unit: Unit/second)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Acceleration
Specify the target
acceleration rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Deceleration
Specify the target
deceleration rate.
(Unit: Unit/s
2
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Jerk
Specify the change rate of
the target acceleration or
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
BufferMode
Specify the behavior when
executing two instructions.
0: Aborting
1: Buffered
2: BlendingLow
3: BlendingPrevious
4: BlendingNext
MC_Buffer
_Mode
0
：
mcAborting
1
：
mcBuffered
2
：
mcBlendingLo
w
3
：
mcBlending
_Previous
When Execute
changes from
FALSE to TRUE
MC_Mov eRelat iv e
Ax is Done
MC_MoveRelative_inst ance
Ex ecut e
Cont inuous Upda te
Busy
Ac tiv e
Distanc e CommandAborted
Error
ErrorID Ac celeration
Deceleration
Jerk
Buf ferMode
Veloc it y
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