Delta Electronics DVP15MC11T Operation Manual page 308


Rel2_BM =mcBlending _High
Vel ocity
500
300
Pos ition
16000
7000
4500
2000
Rel 1
Rel1_Ex
Rel1_ Do ne
Rel1_B sy
Rel1_ Act
Rel1_Abt
Rel 2
Rel2_Ex
Rel2_Don e
Rel2_B sy
Rel2_A ct

As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE. One period later,
Rel1_Act changes to TRUE and the first MC_MoveRelative instruction execution starts. While
the target position is not reached yet and Rel2_Ex changes from FALSE to TRUE, Rel2_Bsy
changes to TRUE, Rel1_Bsy and Rel1_Act remain TRUE and the first MC_MoveRelative
instruction execution continues. As the target position is reached, Rel1_Done changes to
TRUE. At the moment, the velocity is 500 units /second which is the higher one of the target
velocities of the current instruction and buffered instruction; Rel1_Bsy and Rel1_Act change to
FALSE; Rel2_Act changes to TRUE and the second MC_MoveRelative instruction execution
starts. As the target position is reached, Rel2_Done changes to TRUE and meanwhile
Rel2_Bsy and Rel2_Act change to FALSE.

As Rel1_Ex changes from TRUE to FALSE, Rel1_Done changes to FALSE. As Rel2_Ex
changes from TRUE to FALSE, Rel2_Done changes to FALSE.
Chapter 10 Motion Control Function
Time
Time
10
10-19