Delta Electronics DVP15MC11T Operation Manual page 390

2. Motion Curve and Timing Chart:
Velocity
Position
17 000
2 000
Rel_Ex
Rel_Done
Rel_Bsy
Rel_Act
Rel_Abt
Sup_Ex
Sup_Done
Sup _Bsy
Sup_A ct
Sup Abt

When Rel_Ex changes to TRUE, Rel_Bsy changes to TRUE. One period later, Rel_Act
changes to TRUE and the motion controller controls the servo motor rotation by using the
current position as the reference point.

When Sup_Ex changes to TRUE, Sup_Bsy changes to TRUE. One cycle later, Sup_Act
changes to TRUE and the the MC_MoveSuperimposed instruction starts to control the axis.
The velocity and acceleration (0 at the moment) for the servo motor are the sums of the
velocities and accelerations of the two instructions respectively.

When the superimposed distance specified by the MC_MoveSuperimposed instruction is
completed, Sup_Done changes to TRUE and Sup_Bsy and Sup_Act change to FALSE.

When the distance specified by the MC_MoveRelative instruction is completed, Rel_Done
changes to TRUE and Rel_Bsy and Rel_Act change to FALSE. The final position of the axis is
the sum of the distances of the two instructions plus the start position.

When Rel_Ex changes to FALSE, Rel_Done changes to FALSE. When Sup_Ex changes to
FALSE, Sup_Done changes to FALSE.
1100
600
Rel
Sup
Chapter 12 Troubleshooting
Time
Time
11-67
11