Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
11-355
11
Parameter name Function Data type
Valid range
(Default)
Validation timing
between two axes group
instructions
1: Buffered
3: Blended with the
speed of previous
instruction
Mode 3: mcBlending-
Previous
changes from
FALSE to TRUE.
TransitionMode
Specify the transiton
mode between two axes
group instructions
0: No transition curve
inserted
2: Make the transition at
the set constant
speed
3: Make the transition
based on the
specified corner
distance
MC_Transitio
n_Mode
0: mcTMNone
2
：
mcTMCons-
tantVelocity
3: mcTMCorner-
Distance
When Execute
changes from
FALSE to TRUE.
TransitionParamet
er
Set the transition
parameter for specific
transition mode
LREAL
Positive, 0
（
0
）
When Execute
changes from
FALSE to TRUE.
Note:
1. DMC_MoveLinearRelative instruction starts being executed 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 end positions for linear interpolation.
3. Refer to section 10.2 for the relationship among Velocity, Acceleration, Deceleration and Jerk .
4. For details on BufferMode, refer to section 10.3.
5. The value of the input
TransitionParameter of DMC_MoveLinearRelative instruction is invalid unless
mcTMCornerDistance is selected asTransitionMode .

Output Parameters
Parameter name Function Data type Valid range
Done
TRUE when the instruction execution is
completed.
BOOL TRUE / FALSE
Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE
Active TRUE when the instruction is controlling axes. BOOL TRUE / FALSE
CommandAborted TRUE when the instruction execution is aborted. BOOL TRUE / FALSE
Error
TRUE when an error occurs in execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs.
Please refer to section 12.2.
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