Mc_Moverelative - Delta Electronics DVP15MC11T Operation Manual

DVP15MC11T Operation Manual
11.3.6

MC_MoveRelative

FB/FC
MC_MoveRelative is used to make the axis move a given distance by
11
FB starting from the command current position at a given speed, acceleration
and deceleration and Jerk.
1

Input Parameters
Parameter name
Axis
Execute
ContinuousUpdate
Distance
Velocity
Acceleration
Deceleration
Jerk
BufferMode
11-36
Explanation
MC_MoveRelative_inst ance
MC_MoveRelat ive
Axis
Execut e
Cont inuousUpda te
Distance
Velocit y
Acceleration
Deceleration
Jerk
Buf ferMode
Function
Specify the number of the
axis which is to be
controlled
The instruction is executed
when Execute changes
from FALSE to TRUE.
Reserved
Specify the motion distance
from command current
position.
(Unit: Unit)
Specify the target velocity.
(Unit: Unit/second)
Specify the target
acceleration rate.
2
(Unit: Unit/s )
Specify the target
deceleration rate.
2
(Unit: Unit/s )
Specify the change rate of
the target acceleration or
deceleration.
3
(Unit: Unit/s )
Specify the behavior when
executing two instructions.
0: Aborting
1: Buffered
2: BlendingLow
3: BlendingPrevious
4: BlendingNext
Done
Busy
Active
CommandAborted
Error
ErrorID
Valid range
Data type
(Default)
1~32
USINT (The variable value
must be set)
TRUE or FALSE
BOOL
(FALSE)
- -
Negative number,
positive number or 0
LREAL
(0)
Positive number
LREAL
(The variable value
must be set)
Positive number
LREAL
(The variable value
must be set)
Positive number
LREAL
(The variable value
must be set)
Positive number
LREAL
(The variable value
must be set)
0： mcAborting
1： mcBuffered
MC_Buffer
2： mcBlendingLo
_Mode
w
3： mcBlending
_Previous
Applicable model
DVP15MC11T
Validation timing
When Execute
changes from
FALSE to TRUE
-
-
When Execute
changes from
FALSE to TRUE
When Execute
changes from
FALSE to TRUE
When Execute
changes from
FALSE to TRUE
When Execute
changes from
FALSE to TRUE
When Execute
changes from
FALSE to TRUE
When Execute
changes from
FALSE to TRUE