Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
11-366
11
1
2. Motion Curve and Timing Chart of the terminal actuator
Y a xis
100000
X axis
LIN R EL1
250000
LIN R EL1_Ex
LIN R EL1_Abt
LIN R EL1_D one
LIN R EL1_E rr
LIN R EL1_Bsy
LINR EL1_Ac t
LIN R EL2_Abt
LIN R EL2_D one
LIN R EL2_E rr
LIN R EL2_Bsy
LINR EL2_Ac t
L IN R EL 2
（ ， ）
0 0
A
100000
B
C
D

Set BufferMode to mcBlendingPrevious, TransitionMode to mcTMCornerDistance and
TransitionParameter to 10000 for LINREL2.

LINREL1_Dis [1] and LINREL1_Dis [2] of LINREL1 are both set to 100,000. LINREL2_Dis [1] and
LINREL2_Dis [2] of LINREL2 are set 150,000 and 0.

ADDAXIS1 and ADDAXIS2 are executed first and then DMC_GroupEnable0 is executed. When the
axes group is enabled, LINREL1 is excecuted and then LINREL2 is executed immediately.

When the terminal actuator gets to point B in the coordinate system, LINREL1_Done changes to
TRUE. Meanwhile LINREL2_Act changes to TRUE and LINREL2 starts to execute.

After LINREL2 is executed, the terminal actuator moves along an arc and then continues to make
the linear interpolation after passing by point C.

The distance from point B to point A equals that from point C to point A. It is also equal to 10,000, the
value of
TransitionParameter of LINREL2.