Delta Electronics DVP15MC11T Operation Manual page 362


Distance
Distance and the start position for reference jointly determine the target position which the axis will reach
under control of the instruction. The target position= the start position for reference + Distance.
When Distance is set to 0, the target position for the axis motion is set as current position. The instruction
execution is finished in the next cycle since its execution and Done changes to TRUE.
As illustrated in the following left figure, the start position for reference is 10000. The axis moves in the
positive direction and the target position is 20000 (10000+10000) when Distance>0 (10000).
In the following right figure, the axis moves in the negative direction and the target position is 0
(10000-10000) when Distance<0(-10000).
Pos ition
20000
10000
S ta rt P osi ti on
0

Programming Example 1
The programming example is as follows when one MC_MoveRelative instruction is used.
1. The variables and program
Variable name
Pwr
Axis1
Pwr_En
Pwr_BM
Pwr_Sta
Pwr_Bsy
Pwr_Act
Pwr_Err
Pwr_ErrID
Rel
Rel _Ex
Rel _BM
Rel _Done
Rel _Bsy
Rel _Act
Rel _Abt
Rel _Err
Rel _ErrID
Dista nce>0
Dis tanc e= 10000
Tar g et P osi tio n
Time
Data type
MC_Power
USINT
MC_Buffer_Mode
WORD
MC_MoveRelative
MC_Buffer_Mode
WORD
Chapter 12 Troubleshooting
D istance <0
P osit io n
Dist ance =-1000 0
200 00
Star t Po sitio n
100 00
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Ta rg et Po siti on
Time
Initial value
1
FALSE
0
FALSE
0
11-39
11