Delta Electronics DVP10MC11T [71/375] Motion control instructions

4. Motion Control Instructions

DVP-MC operating manual 4-27

Motion diagram as below:

 When M2 turns Off→On, M22 of "Busy" turns Off→On and motion controller controls servo motor to

rotate with current position as reference point. When M3 turns Off→On, M32 of "Busy" turns Off→On;

the second MC_MoveSuperImposed instruction starts to be executed and the speed and acceleration of

servo motor enter the superposition state respectively. When the position of the second

MC_MoveSuperImposed instruction is completed, M30 of "Done" bit turns Off→On and M32 of "Busy"

turns On→Off. When the position of the first MC_MoveSuperImposed instruction is completed, M20 of

"Done" bit turns Off→On and M22 of "Busy" turns On→Off. The final distance is the addition of given

distances for the two instructions.

 When M2 turns OnOff, M20 of "Done" bit is reset. When M3 turns OnOff, M30 of "Done" bit is

reset.



Program Example 3

 Make a conversion as the following figure shows by adding a virtual axis if the master axis specified in

MC_CamIn, APF_RotaryCut_In and APF_FlyingShear need modify the position through the execution

of MC_MoveSuperImposed while the slave axis motion is not affected. After the conversion is made,

MC_MoveSuperImposed execution for the original master axis does not affect the slave axis motion.