Delta Electronics DVP15MC11T Operation Manual page 311

DVP15MC11T Operation Manual

Rel_BM =mcAborting

As Vel_Ex changes from FALSE to TRUE, Vel_Bsy changes to TRUE. One period later,
Vel_Act changes to TRUE. Before the target velocity is reached, the axis moves at the velocity
and acceleration specified by the MC_MoveRelative instruction as Rel_Ex changes from
FALSE to TRUE. As Vel_Abt changes to TRUE, Vel_Bsy and Vel_Act change to FALSE, the
velocity instruction is aborted, the MC_MoveRelative instruction is executed and Rel_Bsy
changes to TRUE. One period later, Rel_Act changes to TRUE. As the positioning is completed,
Rel_Done changes to TRUE.
10
10-22
Veloci ty
Rel _Vel
Vel_Vel
Position
Rel_D ist
S
2
S
1
Vel
Vel _Ex
Vel_Inv el
Vel_Bsy
Vel_Act
Vel _Abt
Rel
Rel _Ex
R el_Done
Rel_Bsy
Rel Act
Time
Ti me