Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-336
11
1
DMC_MoveDirectRelative
FB/FC
Explanation Applicable model
FB
DMC_MoveDirectRelative is used to control the axes in an axes
group to move corresponding distances from current positions at
specified velocities.
DVP15MC11T
DVP15MC11T-06
DMC_MoveDirec tRelat iv e
Ax esGroup Done
DMC_MoveDirec tRelat iv e_instanc e
Ex ecut e
Distanc e
Busy
Ac tive
CommandAb ort ed CoordSys tem
BufferMode
Trans it ionMode
Trans itionParameter
Error
ErrorID

Input Parameters
Parameter name Function Data type Valid range Parameter name
AxesGroup
The axes group
number
USINT
1~8
(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
）
Distance
Set the distances that
axes move ARRAY [1..8]
OF LREAL
Positive number, 0,
negative number
（
0
）
When Execute
changes from
FALSE to TRUE.
CoordSystem Reserved
BufferMode
Specify the buffer
mode between two
axes group
instructions
1
：
Buffered
MC_Buffer_Mo
de
1: mcBuffered
When Execute
changes from
FALSE to TRUE.
TransitionMode
Specify the transition
mode between two
axes group
instructions
0
：
No transition curve
insert
MC_Transition
_Mode
0: mcTMNone
When Execute
changes from
FALSE to TRUE.
TransitionParamet
er
Set the transition
parameter for specific
transition mode
LREAL
Positive number, 0
（
0
）
When Execute
changes from
FALSE to TRUE.
Note:
1. The execution of DMC_MoveDirectRelative instruction starts when Execute changes from FALSE to
TRUE. Changing Execute from TRUE to FALSE during the instruction execution will have no impact
on the instruction execution.
2. The value of input parameter Distance[1] ~ Distance[8] means the motion distances from start