Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
11-77
11

Relationship between Position and Relative
Position, Relative and reference position which stands for the axis position at the moment when the
instruction starts being executed jointly determine the position setting value.
Relative is used to define the relationship between Position and reference position. When Relative
is set to TRUE, it is a relative relationship between Position and reference position and the position
setting value= reference p Position. When Relative is FALSE, it is an absolute relationship
between Position and reference position and the position setting value equals Position.
As shown in the following figures, the reference position is set to10000 and the value of
Position is
6000 for the instruction execution. The corresponding execution results are respectively illustrated
for different
Relative values as below.

ReferenceType
ReferenceType is used to select the command position or actual position as the reference position.
When ReferenceType is 0, the reference position is the command position of the axis. When
ReferenceType is 1, the reference position is the actual position of the axis.
When the command position is taken as the reference position, the instruction calculates the target
command position based on the current command position and the value of
Position and it revises the
command position value into the target position value. Meantime, the actual position of the axis will
change accordingly. The law of the change is that the variation amount of the actual position is the
same as that of the command position. That is to say that the deviation between the command position
Po sition
8000
1000
0
C om mand Pos it ion
Act ual Mot ion Curve
3000
5000
6000
Ex ecut e
Perf orm Absol ute
Posi tioni ng
of
Perf orm Abs olute
Posi ti oni ng
of
2000
500 0
Set Pos ition
50 00
Time
P osition
16 000
10 000
Re la tive=TRU E
Before e xe cuti on
After e xecuti on
Time
0
Pos it ion
6000
10 000
Before execution
Afte r e xe cuti on
Time
0
Rel ati ve =FALSE