Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
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and actual position remains unchanged at the time when the instruction is executed and the instruction
execution ends.
The solution for the actual position which is taken as the reference position is the same as that for the
command position which is taken as the reference position.
There will be no difference in execution effect between the command position and actual position as the
reference position if the axis is in Standstill state as MC_SetPosition is executed. That is because the
difference is 0 between command position and actual position as the axis is still.
The differences in execution effect between command position and actual position as the reference
position exist as illustrated below if the axis is in motion as MC_SetPosition is executed. If not zero, the
difference between command position and actual position is caused by the command response time.
When MC_SetPosition is executed in absolute mode with
Position set to 6000 while the axis is
positioning with the target position of 5000, the command position and actual position of the axis are
3000 and 2300 respectively (difference value
△
P =700). The command position changes to 6000 and
actual position becomes 5300 (5300=6000-
△
P) after the instruction is executed if the reference position
is the command position as the following left figure shows.
The actual position of the axis changes to 6000 and command position becomes 6700
(6700=6000+
△
P) after the instruction is executed if the reference position is the actual position as the
following right figure shows.

Relationship between Axis Type and Reference Type
Different axis types are applicable to different reference types as shown in the following table.
Axis type
Reference Type
Command Position Actual Position
Real axis
YES
YES
Encoder axis
YES
YES
Virtual axis
YES
YES
There will be an error in the instruction execution if the axis on which MC_SetPosition is executed does
not support the selected Reference Type.
Pos it ion
8000
1000
0
Re ferenc e Posit io n Comma nd P osition
=
R efe re nceTyp e=0
Comm and Pos iti on
Ac tual Pos it ion
2300
3000
5300
6000
Re fere nce Posi tion=Actual Position
Re feren ce Type =1
Position
8700
1000
0
Command Posi ti on
2300
3000
6000
6700
P
P
P
P
Po si tio n=60 00
Rel ati ve =FALSE
Ac t ual Pos iti on
Instruction
Execution
Instruction
Execution
Time Time