Delta Electronics DVP15MC11T Operation Manual page 316


Vel _BM =mcBuffered
Veloc ity
Vel_Vel
R el_Vel
Pos ition
R el_Dis t
S
S
Rel
Re l_ Ex
Rel_Done
Rel_Bs y
Rel_A ct
Rel_Abt
Vel
Ve l_ Ex
Vel_I nv el
Vel_Bs y
Vel_A ct

As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later,
Rel_Act changes to TRUE. When the target position is not reached, Vel_Ex changes from
FALSE to TRUE. The axis decelerates to 0 when the execution of the MC_MoveRelative
instruction is completed. Then Rel_Done changes to TRUE, Rel_Bsy and Rel_Act change to
FALSE and the axis moves at the velocity and acceleration specified by the velocity instruction.
Vel_Bsy changes to TRUE and one period later, Vel_Act changes to TRUE. Rel_Invel changes
to TRUE as the target velocity is reached.
2
1
Chapter 10 Motion Control Function
T ime
Tim e
10
10-27