Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
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1
Parameter
Name
Timing for changing to TRUE Timing for changing to FALSE
changes from TRUE to FALSE during the
instruction execution. One cycle later,
CommandAborted changes to FALSE.
Error

When an error occurs in the instruction
execution or the input parameters for the
instruction are illegal.

When Execute changes from TRUE to
FALSE.

Output Update Timing Chart
Case 1
：
Busy changes to TRUE when Execute changes from FALSE to TRUE and one cycle later,
Active changes to TRUE. When the positioning is finished, Done changes to TRUE and
meanwhile, Busy and Active change to FALSE.
Case 2
：
When Execute changes from FALSE to TRUE and the instruction is aborted by other
instruction, CommandAborted changes to TRUE and meanwhile, Busy and Active change to
FALSE. CommandAborted changes to FALSE when Execute changes from TRUE to FALSE.
Case 3
：
When an error occurs such as axis alarm or Offline after Execute changes from FALSE to
TRUE, Error changes to TRUE and ErrorID shows the corresponding error code. Meanwhile,
Busy and Active change to FALSE. Error changes to FALSE when Execute changes from
TRUE to FALSE.
Case 4
：
In the course of execution of the instruction, Done changes to TRUE when the instruction
execution is completed after Execute changes from TRUE to FALSE. Meanwhile, Busy and
Active change to FALSE and one cycle later, Done changes to FALSE.

Function
MC_MoveRelative is used to make the axis move for a given distance by starting from the command
current axis position at a given speed, acceleration, deceleration and Jerk.

Distance
Distance and the start position for reference jointly determine the target position which the axis will
reach under control of the instruction. The target position= the start position for ref Distance .
When Distance is set to 0, the target position for the axis motion is set as current position. The
instruction execution is finished in the next cycle since its execution and Done changes to TRUE.
As illustrated in the following left figure, the start position for reference is 10000. The axis moves in the
positive direction and the target position is 20000 (10000+10000) when Distance>0 (10000).
In the following right figure, the axis moves in the negative direction and the target position is 0 (10000-
10000) when Distance<0(-10000).
Ex ec ute
Done
B usy
Ac tive
Co mma ndAbo rt ed
Error
E rro r ID
Cas e 1
Cas e 2 Case 3
Ca se 4